Merge pull request #136 from LaboratoireMecaniqueLille/feature/includ…

…e_new_features_from_3.8_and_3.9

Include new features from Python 3.8 and 3.9

examples/blocks/synchronizer.py

@@ -28,7 +28,7 @@
 """
 
 import crappy
-from typing import Tuple, Dict, Optional
+from typing import Optional
 from time import sleep
 import random
 
@@ -43,8 +43,8 @@ class RandomPath(crappy.blocks.generator_path.meta_path.Path):
   """
 
   def __init__(self,
-               time_range: Tuple[float, float],
-               value_range: Tuple[float, float]) -> None:
+               time_range: tuple[float, float],
+               value_range: tuple[float, float]) -> None:
     """Sets the arguments and initializes the parent class.
 
     Args:
@@ -55,10 +55,10 @@ def __init__(self,
 
     super().__init__()
 
-    self._time_range: Tuple[float, float] = time_range
-    self._value_range: Tuple[float, float] = value_range
+    self._time_range: tuple[float, float] = time_range
+    self._value_range: tuple[float, float] = value_range
 
-  def get_cmd(self, data: Dict[str, list]) -> Optional[float]:
+  def get_cmd(self, data: dict[str, list]) -> Optional[float]:
     """Returns a randomly generated value after sleeping a random number of
     seconds."""
 

examples/custom_objects/custom_block.py

@@ -27,7 +27,8 @@
 """
 
 import crappy
-from typing import Optional, Iterable
+from typing import Optional
+from collections.abc import Iterable
 import logging
 from time import sleep, time
 

examples/custom_objects/custom_camera/custom_camera_basic.py

@@ -29,7 +29,6 @@
 import crappy
 import numpy as np
 import numpy.random as rd
-from typing import Tuple
 from time import time
 
 
@@ -76,7 +75,7 @@ def open(self, **kwargs) -> None:
     # Here the Camera does not include settings though
     self.set_all(**kwargs)
 
-  def get_image(self) -> Tuple[float, np.ndarray]:
+  def get_image(self) -> tuple[float, np.ndarray]:
     """This method must return the current timestamp as well as an acquired
     image.
 

examples/custom_objects/custom_camera/custom_camera_hardware_trigger.py

@@ -42,7 +42,6 @@
 import crappy
 import numpy as np
 import numpy.random as rd
-from typing import Tuple
 from time import time, sleep
 
 
@@ -100,7 +99,7 @@ def open(self, **kwargs) -> None:
     # This line is mandatory here for first applying the trigger setting
     self.set_all(**kwargs)
 
-  def get_image(self) -> Tuple[float, np.ndarray]:
+  def get_image(self) -> tuple[float, np.ndarray]:
     """Compared to the one in custom_camera_basic.py, this method returns the
     same images but with a delay if in Hardware trigger mode.
 

examples/custom_objects/custom_camera/custom_camera_metadata.py

@@ -34,7 +34,7 @@
 import crappy
 import numpy as np
 import numpy.random as rd
-from typing import Tuple, Dict, Any
+from typing import Any
 from time import time, strftime, gmtime
 
 
@@ -69,7 +69,7 @@ def open(self, **kwargs) -> None:
     # Here the Camera does not include settings though
     self.set_all(**kwargs)
 
-  def get_image(self) -> Tuple[Dict[str, Any], np.ndarray]:
+  def get_image(self) -> tuple[dict[str, Any], np.ndarray]:
     """Compared to the custom_camera_basic.py example, this method returns a
     complete dictionary of metadata instead of just a timestamp.
 

examples/custom_objects/custom_camera/custom_camera_settings.py

@@ -34,7 +34,6 @@
 import crappy
 import numpy as np
 import numpy.random as rd
-from typing import Tuple
 from time import time
 
 
@@ -109,7 +108,7 @@ def open(self, **kwargs) -> None:
     # This line is mandatory here for first applying the instantiated settings
     self.set_all(**kwargs)
 
-  def get_image(self) -> Tuple[float, np.ndarray]:
+  def get_image(self) -> tuple[float, np.ndarray]:
     """This method is an extension of the custom_camera_basic.py one.
 
     Instead of just generating the random image always in a same way, it is

examples/custom_objects/custom_camera/custom_camera_software_roi.py

@@ -33,7 +33,6 @@
 
 import crappy
 import numpy as np
-from typing import Tuple
 from time import time
 
 
@@ -83,7 +82,7 @@ def open(self, **kwargs) -> None:
     # This line is mandatory here for first applying the parameters of the ROI
     self.set_all(**kwargs)
 
-  def get_image(self) -> Tuple[float, np.ndarray]:
+  def get_image(self) -> tuple[float, np.ndarray]:
     """Compared to the one in custom_camera_basic.py, this method returns the
     static image cropped by the selected software ROI.
 

examples/custom_objects/custom_camera_block.py

@@ -34,7 +34,8 @@
 import crappy
 import cv2
 import numpy as np
-from typing import Optional, Callable, Tuple, Union
+from typing import Optional, Union
+from collections.abc import Callable
 from pathlib import Path
 
 
@@ -92,7 +93,7 @@ def draw(self, img: np.ndarray) -> None:
     cv2.ellipse(img,
                 (self._center_x, self._center_y),
                 (self._x_axis, self._y_axis),
-                0, 0, 360, 0, thickness)
+                0., 0., 360., (0.,), thickness)
 
 
 class CustomCameraProcess(crappy.blocks.camera_processes.CameraProcess):
@@ -226,7 +227,7 @@ def __init__(self,
                save_backend: Optional[str] = None,
                image_generator: Optional[Callable[[float, float],
                                                   np.ndarray]] = None,
-               img_shape: Optional[Tuple[int, int]] = None,
+               img_shape: Optional[tuple[int, int]] = None,
                img_dtype: Optional[str] = None,
                scale_factor: float = 1.2,
                min_neighbors: int = 3,

examples/custom_objects/custom_generator_path.py

@@ -26,7 +26,7 @@
 
 import crappy
 from crappy.blocks.generator_path.meta_path import Path, ConditionType
-from typing import Optional, Union, Dict
+from typing import Optional, Union
 from math import pi, sin, copysign
 from time import time
 
@@ -74,7 +74,7 @@ def __init__(self,
     self._amplitude = amplitude / 2
     self._offset = offset
 
-  def get_cmd(self, data: Dict[str, list]) -> float:
+  def get_cmd(self, data: dict[str, list]) -> float:
     """This method is the one that generates and returns the value to output
     for the Generator Block.
 

examples/custom_objects/custom_inout/custom_inout_basic_in.py

@@ -29,7 +29,7 @@
 """
 
 import crappy
-from typing import Tuple, Optional
+from typing import Optional
 from time import time
 
 
@@ -66,7 +66,7 @@ def open(self) -> None:
 
     ...
 
-  def get_data(self) -> Tuple[float, int]:
+  def get_data(self) -> tuple[float, int]:
     """This method is used for acquiring data from the hardware.
 
     Here, it simply updates the loop counter and returns its value along with a

examples/custom_objects/custom_inout/custom_inout_basic_inout.py

@@ -28,7 +28,7 @@
 """
 
 import crappy
-from typing import Dict, Optional
+from typing import Optional
 from time import time
 
 
@@ -64,7 +64,7 @@ def open(self) -> None:
 
     ...
 
-  def get_data(self) -> Dict[str, float]:
+  def get_data(self) -> dict[str, float]:
     """This method is used for acquiring data from the hardware.
 
     Here, it returns the current timestamp as well as the value of the _buffer

examples/custom_objects/custom_inout/custom_inout_make_zero.py

@@ -31,7 +31,7 @@
 
 import crappy
 from random import random
-from typing import Tuple, Optional
+from typing import Optional
 from time import time
 
 
@@ -67,7 +67,7 @@ def open(self) -> None:
 
     ...
 
-  def get_data(self) -> Tuple[float, float]:
+  def get_data(self) -> tuple[float, float]:
     """This method is used for acquiring data from the hardware.
 
     Here, it returns the current timestamp and a random value in the interval

examples/custom_objects/custom_inout/custom_inout_streamer.py

@@ -28,7 +28,6 @@
 import crappy
 import numpy as np
 import numpy.random as rd
-from typing import Tuple
 from time import time
 
 
@@ -70,7 +69,7 @@ def start_stream(self) -> None:
 
     ...
 
-  def get_stream(self) -> Tuple[np.ndarray, np.ndarray]:
+  def get_stream(self) -> tuple[np.ndarray, np.ndarray]:
     """This method acquires the stream data and returns it in one array
     containing the time information and another array containing the data.
 

examples/custom_objects/custom_modifier.py

@@ -26,9 +26,12 @@
 """
 
 import crappy
-from typing import Dict, Any, Iterable, Optional
+from typing import Optional, TypeVar
+from collections.abc import Iterable
 from math import sqrt
 
+T = TypeVar('T')
+
 
 class CustomModifier(crappy.modifier.Modifier):
   """This class demonstrates the instantiation of a custom Modifier object in
@@ -73,7 +76,7 @@ def __init__(self,
     self._square_sum = 0
     self._nb_samples = 0
 
-  def __call__(self, data: Dict[str, Any]) -> Dict[str, Any]:
+  def __call__(self, data: dict[str, T]) -> dict[str, T]:
     """This method is the one that transforms the received data and returns the
     modified version.
 

src/crappy/actuator/__init__.py

@@ -1,7 +1,5 @@
 # coding: utf-8
 
-from typing import Dict, Type
-
 from .adafruit_dc_motor_hat import DCMotorHat
 from .fake_dc_motor import FakeDCMotor
 from .fake_stepper_motor import FakeStepperMotor
@@ -18,4 +16,4 @@
 from .meta_actuator import MetaActuator, Actuator
 
 from ._deprecated import deprecated_actuators
-actuator_dict: Dict[str, Type[Actuator]] = MetaActuator.classes
+actuator_dict: dict[str, type[Actuator]] = MetaActuator.classes

src/crappy/actuator/adafruit_dc_motor_hat.py

@@ -2,7 +2,7 @@
 
 from struct import pack_into
 from time import sleep
-from typing import Union, Tuple
+from typing import Union, Literal
 import logging
 from  warnings import warn
 
@@ -68,7 +68,7 @@ class DCMotorHat(Actuator):
   """
 
   def __init__(self,
-               backend: str,
+               backend: Literal['Pi4', 'blinka'],
                device_address: int = 0x60,
                i2c_port: int = 1) -> None:
     """Checks the validity of the arguments.
@@ -142,7 +142,7 @@ def open(self) -> None:
       for i in range(1, 5):
         self._write_i2c(motor_hat_ctrl[i], motor_hat_0xFF)
 
-  def set_speed(self, cmd: Tuple[int, float]) -> None:
+  def set_speed(self, cmd: tuple[int, float]) -> None:
     """Sets the desired voltage on the selected motor.
 
     The provided voltage should be between `-12` and `12V` which are the limits

src/crappy/actuator/ft232h/adafruit_dc_motor_hat.py

@@ -2,7 +2,7 @@
 
 from struct import pack_into
 from time import sleep
-from typing import Union, Optional, Tuple
+from typing import Union, Optional
 import logging
 from warnings import warn
 
@@ -114,7 +114,7 @@ def open(self) -> None:
     for i in range(1, 5):
       self._write_i2c(motor_hat_ctrl[i], motor_hat_0xFF)
 
-  def set_speed(self, cmd: Tuple[int, float]) -> None:
+  def set_speed(self, cmd: tuple[int, float]) -> None:
     """Sets the desired voltage on the selected motor.
 
     The provided voltage should be between `-12` and `12V` which are the limits

src/crappy/actuator/jvl_mac_140.py

@@ -1,7 +1,7 @@
 # coding: utf-8
 
 from struct import pack, unpack
-from typing import Optional, Tuple
+from typing import Optional
 from time import sleep
 import logging
 
@@ -201,8 +201,8 @@ def reset_position(self) -> None:
       pass
 
   def _make_cmd(self,
-                values: Tuple[int, int, int, int],
-                encodings: Tuple[str, str, str, str],
+                values: tuple[int, int, int, int],
+                encodings: tuple[str, str, str, str],
                 last_cmd: bool) -> bytes:
     """Builds a command to send to the servomotor, from the given arguments.
 

src/crappy/actuator/kollmorgen_servostar_300.py

@@ -1,6 +1,6 @@
 # coding: utf-8
 
-from typing import Union, Optional
+from typing import Union, Optional, Literal
 import logging
 
 from .meta_actuator import Actuator
@@ -27,7 +27,7 @@ class ServoStar300(Actuator):
   def __init__(self,
                port: str,
                baudrate: int = 38400,
-               mode: str = "serial") -> None:
+               mode: Literal['serial', 'analog'] = "serial") -> None:
     """Sets the instance attributes and initializes the parent class.
 
     Args:

src/crappy/actuator/oriental_ard_k.py

@@ -111,8 +111,7 @@ def set_speed(self, cmd: float) -> None:
       return
 
     # Stopping the motor if the direction changed
-    dir_chg = self._prev_set_speed * sign < 0
-    if dir_chg:
+    if self._prev_set_speed * sign < 0:
       self.stop()
 
     # Writing the target speed value

src/crappy/actuator/phidgets_stepper4a.py

@@ -4,7 +4,7 @@
 import numpy as np
 from pathlib import Path
 from platform import system
-from typing import Optional, Tuple, Union
+from typing import Optional, Union
 
 from .meta_actuator import Actuator
 from .._global import OptionalModule
@@ -44,7 +44,7 @@ def __init__(self,
                remote: bool = False,
                absolute_mode: bool = False,
                reference_pos: float = 0,
-               switch_ports: Tuple[int, ...] = tuple(),
+               switch_ports: tuple[int, ...] = tuple(),
                save_last_pos: bool = False,
                save_pos_folder: Optional[Union[str, Path]] = None) -> None:
     """Sets the args and initializes the parent class.