From 85172b56467668bee9fa0e68081027b13bc18c4a Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Tue, 21 Nov 2023 19:13:18 -0700 Subject: [PATCH] Tools: ros2: Run ament_black on all files * This commit is files changed automatically by the black linter Signed-off-by: Ryan Friedman --- .../ardupilot_dds_tests/time_listener.py | 4 +--- Tools/ros2/ardupilot_dds_tests/setup.py | 12 ++++------ .../test_navsat_msg_received.py | 12 +++------- .../test_time_msg_received.py | 12 +++------- .../ardupilot_dds_tests/test_virtual_ports.py | 4 +--- .../src/ardupilot_sitl/actions.py | 14 +++--------- .../src/ardupilot_sitl/launch.py | 22 +++++-------------- .../src/ardupilot_sitl/utilities.py | 4 +--- 8 files changed, 22 insertions(+), 62 deletions(-) diff --git a/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/time_listener.py b/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/time_listener.py index e365eebaf9..353ea76db7 100755 --- a/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/time_listener.py +++ b/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/time_listener.py @@ -40,9 +40,7 @@ class TimeListener(Node): def cb(self, msg): """Process a Time message.""" if msg.sec: - self.get_logger().info( - "From AP : True [sec:{}, nsec: {}]".format(msg.sec, msg.nanosec) - ) + self.get_logger().info("From AP : True [sec:{}, nsec: {}]".format(msg.sec, msg.nanosec)) else: self.get_logger().info("From AP : False") diff --git a/Tools/ros2/ardupilot_dds_tests/setup.py b/Tools/ros2/ardupilot_dds_tests/setup.py index ce6e894687..3d2039beb5 100644 --- a/Tools/ros2/ardupilot_dds_tests/setup.py +++ b/Tools/ros2/ardupilot_dds_tests/setup.py @@ -9,15 +9,11 @@ setup( version='0.0.0', packages=[package_name], data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), - (os.path.join("share", package_name, "launch"), - glob("launch/*.launch.py")), - (os.path.join("share", package_name, "config"), - glob("config/*.parm")), - (os.path.join("share", package_name, "config"), - glob("config/*.yaml")), + (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")), + (os.path.join("share", package_name, "config"), glob("config/*.parm")), + (os.path.join("share", package_name, "config"), glob("config/*.yaml")), ], install_requires=['setuptools'], zip_safe=True, diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py index d4f78f80ff..05ff1343d2 100644 --- a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py @@ -51,14 +51,10 @@ class NavSatFixListener(rclpy.node.Node): depth=1, ) - self.subscription = self.create_subscription( - NavSatFix, self.topic, self.subscriber_callback, qos_profile - ) + self.subscription = self.create_subscription(NavSatFix, self.topic, self.subscriber_callback, qos_profile) # Add a spin thread. - self.ros_spin_thread = threading.Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) + self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) self.ros_spin_thread.start() def subscriber_callback(self, msg): @@ -66,9 +62,7 @@ class NavSatFixListener(rclpy.node.Node): self.msg_event_object.set() if msg.latitude: - self.get_logger().info( - "From AP : True [lat:{}, lon: {}]".format(msg.latitude, msg.longitude) - ) + self.get_logger().info("From AP : True [lat:{}, lon: {}]".format(msg.latitude, msg.longitude)) else: self.get_logger().info("From AP : False") diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_time_msg_received.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_time_msg_received.py index 65676dcc77..5ffa1de6e0 100644 --- a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_time_msg_received.py +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_time_msg_received.py @@ -41,14 +41,10 @@ class TimeListener(rclpy.node.Node): def start_subscriber(self): """Start the subscriber.""" - self.subscription = self.create_subscription( - Time, self.topic, self.subscriber_callback, 1 - ) + self.subscription = self.create_subscription(Time, self.topic, self.subscriber_callback, 1) # Add a spin thread. - self.ros_spin_thread = threading.Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) + self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,)) self.ros_spin_thread.start() def subscriber_callback(self, msg): @@ -56,9 +52,7 @@ class TimeListener(rclpy.node.Node): self.msg_event_object.set() if msg.sec: - self.get_logger().info( - "From AP : True [sec:{}, nsec: {}]".format(msg.sec, msg.nanosec) - ) + self.get_logger().info("From AP : True [sec:{}, nsec: {}]".format(msg.sec, msg.nanosec)) else: self.get_logger().info("From AP : False") diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_virtual_ports.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_virtual_ports.py index 25109a21e9..c1d0994ed5 100644 --- a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_virtual_ports.py +++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_virtual_ports.py @@ -50,7 +50,5 @@ def test_virtual_ports(launch_context, launch_description): def validate_output(output): assert "N starting data transfer loop" in output, "Test process had no output." - process_tools.assert_stderr_sync( - launch_context, virtual_ports, validate_output, timeout=5 - ) + process_tools.assert_stderr_sync(launch_context, virtual_ports, validate_output, timeout=5) yield diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/actions.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/actions.py index 928a511742..05cfca12ce 100644 --- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/actions.py +++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/actions.py @@ -74,14 +74,8 @@ class ExecuteFunction(Action): """Create an ExecuteFunction action.""" super().__init__(**left_over_kwargs) if not callable(function): - raise TypeError( - "ExecuteFunction expected a callable for 'function', got '{}'".format( - type(function) - ) - ) - ensure_argument_type( - args, (collections.abc.Iterable, type(None)), "args", "ExecuteFunction" - ) + raise TypeError("ExecuteFunction expected a callable for 'function', got '{}'".format(type(function))) + ensure_argument_type(args, (collections.abc.Iterable, type(None)), "args", "ExecuteFunction") ensure_argument_type(kwargs, (dict, type(None)), "kwargs", "ExecuteFunction") self.__function = function self.__args = [] # type: Iterable @@ -98,9 +92,7 @@ class ExecuteFunction(Action): """Return the Action obtained by executing the function.""" return self.__action - def execute( - self, context: LaunchContext - ) -> Optional[List[LaunchDescriptionEntity]]: + def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEntity]]: """Execute the function.""" action = self.__function(context, *self.__args, **self.__kwargs) self.__action = action diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py index 0d15ab4ac3..02c8230d5c 100644 --- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py +++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py @@ -68,9 +68,7 @@ class VirtualPortsLaunch: return action @staticmethod - def generate_launch_description_with_actions() -> ( - Tuple[LaunchDescription, Dict[Text, ExecuteFunction]] - ): + def generate_launch_description_with_actions() -> Tuple[LaunchDescription, Dict[Text, ExecuteFunction]]: """Generate a launch description with actions.""" launch_arguments = VirtualPortsLaunch.generate_launch_arguments() @@ -186,9 +184,7 @@ class MicroRosAgentLaunch: return node @staticmethod - def generate_launch_description_with_actions() -> ( - Tuple[LaunchDescription, Dict[Text, ExecuteFunction]] - ): + def generate_launch_description_with_actions() -> Tuple[LaunchDescription, Dict[Text, ExecuteFunction]]: """Generate a launch description with actions.""" launch_arguments = MicroRosAgentLaunch.generate_launch_arguments() @@ -315,9 +311,7 @@ class MAVProxyLaunch: return mavproxy_process @staticmethod - def generate_launch_description_with_actions() -> ( - Tuple[LaunchDescription, Dict[Text, ExecuteFunction]] - ): + def generate_launch_description_with_actions() -> Tuple[LaunchDescription, Dict[Text, ExecuteFunction]]: """Generate a launch description for MAVProxy.""" launch_arguments = MAVProxyLaunch.generate_launch_arguments() @@ -486,9 +480,7 @@ class SITLLaunch: return sitl_process @staticmethod - def generate_launch_description_with_actions() -> ( - Tuple[LaunchDescription, Dict[Text, ExecuteFunction]] - ): + def generate_launch_description_with_actions() -> Tuple[LaunchDescription, Dict[Text, ExecuteFunction]]: """Generate a launch description for SITL.""" launch_arguments = SITLLaunch.generate_launch_arguments() @@ -553,8 +545,7 @@ class SITLLaunch: DeclareLaunchArgument( "instance", default_value="0", - description="Set instance of SITL " - "(adds 10*instance to all port numbers).", + description="Set instance of SITL " "(adds 10*instance to all port numbers).", ), DeclareLaunchArgument( "defaults", @@ -599,8 +590,7 @@ class SITLLaunch: DeclareLaunchArgument( "base_port", default_value="", - description="Set port num for base port(default 5670) " - "must be before -I option.", + description="Set port num for base port(default 5670) " "must be before -I option.", ), DeclareLaunchArgument( "rc_in_port", diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/utilities.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/utilities.py index 10a4396e9f..3df9297939 100644 --- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/utilities.py +++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/utilities.py @@ -29,9 +29,7 @@ def listify(fn) -> List[LaunchDescriptionEntity]: """Wrap a functions's return value in a list.""" @wraps(fn) - def listify_helper( - context: LaunchContext, *args, **kwargs - ) -> List[LaunchDescriptionEntity]: + def listify_helper(context: LaunchContext, *args, **kwargs) -> List[LaunchDescriptionEntity]: return [fn(context, args, kwargs)] return listify_helper