Pass mypy and link issues

examples/drive_around_table.py

@@ -1,142 +1,143 @@
-#!python
-# -*- coding: utf-8 -*-
-
-# flake8: noqa
-
-# This is a port of %% Example 3: Drive Around Table
-#  from the Matlab rwth libraries
-# In this little demo, our bot drives a square on the floor around a well known table.
-
-from jaraco.nxt import Connection
-from jaraco.nxt.messages import (
-    SetOutputState,
-    OutputPort,
-    ResetMotorPosition,
-    GetOutputState,
-    RunState,
-    RegulationMode,
-)
-import time
-
-# Constants
-table_length = 2850  # in degrees of motor rotations :-)
-quarter_turn_ticks = 245  # in motor degrees, how much is a 90° turn of the bot?
-
-power_mul = 1  # my motors are upside down
-
-port = 3
-
-
-def initialize():
-    # Initialize Motors...
-    # we send this in case they should still be spinning or something...
-    connection.send(SetOutputState(OutputPort.all))
-    # and we also "clean up" before we start:
-    ports = (OutputPort.b, OutputPort.c)
-    for port in ports:
-        connection.send(ResetMotorPosition(port))
-
-
-# todo - port this to the library
-def wait_for_motor(conn, port):
-    cmd = GetOutputState(port)
-    status = RunState.running
-    while status == RunState.running:
-        conn.send(cmd)
-        status = conn.receive().run_state
-        print('run_state is', status)
-        time.sleep(0.1)
-    print('exiting wait for motor')
-
-
-def run():
-    # Start the engines, main loop begins (repeated 4 times)
-    # 4 times because we got 4 equal sides of the table :-)
-    for j in range(4):
-        j += 1
-
-        # Build Drive commands
-        cmds = [
-            SetOutputState(
-                OutputPort.b,
-                motor_on=True,
-                regulation_mode=RegulationMode.motor_sync,
-                run_state=RunState.running,
-                set_power=power_mul * 75,
-                tacho_limit=table_length,
-                turn_ratio=0,  # straight ahead
-            ),
-            SetOutputState(
-                OutputPort.c,
-                motor_on=True,
-                regulation_mode=RegulationMode.motor_sync,
-                run_state=RunState.running,
-                set_power=power_mul * 75,
-                tacho_limit=table_length,
-                turn_ratio=0,  # straight ahead
-            ),
-        ]
-        list(map(connection.send, cmds))
-
-        # let the robot start:
-        time.sleep(1)
-
-        # Check for the end end of table
-        wait_for_motor(connection, OutputPort.b)
-
-        # give it a little time to correct its mistakes (hey synchronisation
-        # mode :-)
-        time.sleep(2)
-
-        # apparently we've stopped!
-        # then release the motors
-        initialize()
-        # if we don't do that, syncing again doesn't work
-
-        # and again, if we don't rest relative counters, synced turning etc doesnt work...
-
-        # Now please turn
-
-        # Build Drive commands
-        cmds = [
-            SetOutputState(
-                OutputPort.b,
-                motor_on=True,
-                regulation_mode=RegulationMode.motor_sync,
-                run_state=RunState.running,
-                set_power=power_mul * 75,  # slower is more accurate
-                tacho_limit=quarter_turn_ticks,
-                turn_ratio=100,  # turn right
-            ),
-            SetOutputState(
-                OutputPort.c,
-                motor_on=True,
-                regulation_mode=RegulationMode.motor_sync,
-                run_state=RunState.running,
-                set_power=power_mul * 75,  # slower is more accurate
-                tacho_limit=quarter_turn_ticks,
-                turn_ratio=100,  # turn right
-            ),
-        ]
-
-        list(map(connection.send, cmds))
-
-        # leave the bot time to start turning
-        time.sleep(1)
-
-        # Check for the end of rotation
-        wait_for_motor(connection, OutputPort.b)
-
-        # give it a little time to correct its mistakes (hey synchronisation
-        # mode :-)
-        time.sleep(2)
-
-        # apparently we've stopped!
-        # then release the motors
-        initialize()
-
-
-if __name__ == '__main__':
-    connection = Connection(port)
-    initialize()
-    run()
+#!python
+# -*- coding: utf-8 -*-
+
+# flake8: noqa
+
+# This is a port of %% Example 3: Drive Around Table
+#  from the Matlab rwth libraries
+# In this little demo, our bot drives a square on the floor around a well known table.
+
+from jaraco.nxt import Connection
+from jaraco.nxt.messages import (
+    SetOutputState,
+    OutputPort,
+    ResetMotorPosition,
+    GetOutputState,
+    RunState,
+    RegulationMode,
+)
+import time
+
+# Constants
+table_length = 2850  # in degrees of motor rotations :-)
+quarter_turn_ticks = 245  # in motor degrees, how much is a 90° turn of the bot?
+
+power_mul = 1  # my motors are upside down
+
+port = 3
+
+
+def initialize():
+    # Initialize Motors...
+    # we send this in case they should still be spinning or something...
+    connection.send(SetOutputState(OutputPort.all))
+    # and we also "clean up" before we start:
+    ports = (OutputPort.b, OutputPort.c)
+    for port in ports:
+        connection.send(ResetMotorPosition(port))
+
+
+# todo - port this to the library
+def wait_for_motor(conn, port):
+    cmd = GetOutputState(port)
+    status = RunState.running
+    while status == RunState.running:
+        conn.send(cmd)
+        status = conn.receive().run_state
+        print('run_state is', status)
+        time.sleep(0.1)
+    print('exiting wait for motor')
+
+
+def run():
+    # Start the engines, main loop begins (repeated 4 times)
+    # 4 times because we got 4 equal sides of the table :-)
+    for j in range(4):
+        j += 1
+
+        # Build Drive commands
+        cmds = [
+            SetOutputState(
+                OutputPort.b,
+                motor_on=True,
+                regulation_mode=RegulationMode.motor_sync,
+                run_state=RunState.running,
+                set_power=power_mul * 75,
+                tacho_limit=table_length,
+                turn_ratio=0,  # straight ahead
+            ),
+            SetOutputState(
+                OutputPort.c,
+                motor_on=True,
+                regulation_mode=RegulationMode.motor_sync,
+                run_state=RunState.running,
+                set_power=power_mul * 75,
+                tacho_limit=table_length,
+                turn_ratio=0,  # straight ahead
+            ),
+        ]
+        list(map(connection.send, cmds))
+
+        # let the robot start:
+        time.sleep(1)
+
+        # Check for the end end of table
+        wait_for_motor(connection, OutputPort.b)
+
+        # give it a little time to correct its mistakes (hey synchronisation
+        # mode :-)
+        time.sleep(2)
+
+        # apparently we've stopped!
+        # then release the motors
+        initialize()
+        # if we don't do that, syncing again doesn't work
+
+        # and again, if we don't rest relative counters, synced turning etc doesnt work...
+
+        # Now please turn
+
+        # Build Drive commands
+        cmds = [
+            SetOutputState(
+                OutputPort.b,
+                motor_on=True,
+                regulation_mode=RegulationMode.motor_sync,
+                run_state=RunState.running,
+                set_power=power_mul * 75,  # slower is more accurate
+                tacho_limit=quarter_turn_ticks,
+                turn_ratio=100,  # turn right
+            ),
+            SetOutputState(
+                OutputPort.c,
+                motor_on=True,
+                regulation_mode=RegulationMode.motor_sync,
+                run_state=RunState.running,
+                set_power=power_mul * 75,  # slower is more accurate
+                tacho_limit=quarter_turn_ticks,
+                turn_ratio=100,  # turn right
+            ),
+        ]
+
+        list(map(connection.send, cmds))
+
+        # leave the bot time to start turning
+        time.sleep(1)
+
+        # Check for the end of rotation
+        wait_for_motor(connection, OutputPort.b)
+
+        # give it a little time to correct its mistakes (hey synchronisation
+        # mode :-)
+        time.sleep(2)
+
+        # apparently we've stopped!
+        # then release the motors
+        initialize()
+
+
+if __name__ == '__main__':
+    # FIXME: ValueError: "port" must be None or a string, not <class 'int'>
+    connection = Connection(port)  # type: ignore[arg-type]
+    initialize()
+    run()

jaraco/nxt/__init__.py

@@ -7,15 +7,16 @@
 Requires a bluetooth connection (and utilizes serial protocol).
 """
 
-import traceback
 import logging
+import traceback
 
 import serial
 
 from jaraco.nxt import messages
 
 try:
-    import bluetooth
+    # Requires PyBluez or pybluez2 to be installed
+    import bluetooth  # type: ignore[import-not-found]
 except ImportError:
     import types
 

jaraco/nxt/controller.py

@@ -21,7 +21,7 @@
         % __name__
     )
 from jaraco.nxt import Connection
-from jaraco.nxt.messages import SetOutputState, OutputPort, RunState
+from jaraco.nxt.messages import OutputPort, RunState, SetOutputState
 
 
 class MotorController:
@@ -144,7 +144,7 @@ def _get_options():
 
 
 def print_voltage(controller):
-    from routine import get_voltage
+    from jaraco.nxt.routine import get_voltage
 
     voltage = get_voltage(controller.conn)
     print('Successfully connected to device; battery voltage is %f' % voltage)

mypy.ini

@@ -12,3 +12,7 @@ explicit_package_bases = True
 
 # Disable overload-overlap due to many false-positives
 disable_error_code = overload-overlap
+
+# jaraco/jaraco.input#2
+[mypy-jaraco.input.*]
+ignore_missing_imports = True

pyproject.toml

@@ -60,6 +60,7 @@ type = [
 	"pytest-mypy",
 
 	# local
+	"types-pyserial"
 ]
 
 input = [
@@ -72,7 +73,3 @@ nxt-control = "jaraco.nxt.controller:serve_forever"
 
 
 [tool.setuptools_scm]
-
-
-[tool.pytest-enabler.mypy]
-# Disabled due to jaraco/skeleton#143