From 59d72cc800a57eda0702a6a427e758cad6c3e815 Mon Sep 17 00:00:00 2001 From: foamyguy Date: Tue, 13 May 2025 20:09:16 +0000 Subject: [PATCH 1/5] start ruff change --- .gitattributes | 11 + .pre-commit-config.yaml | 43 +-- .pylintrc | 399 -------------------------- README.rst | 6 +- adafruit_bno08x/__init__.py | 81 ++---- adafruit_bno08x/debug.py | 1 + adafruit_bno08x/i2c.py | 11 +- adafruit_bno08x/spi.py | 21 +- adafruit_bno08x/uart.py | 9 +- docs/api.rst | 3 + docs/conf.py | 8 +- examples/bno08x_calibration.py | 2 + examples/bno08x_find_heading.py | 6 +- examples/bno08x_more_reports.py | 29 +- examples/bno08x_quaternion_service.py | 4 +- examples/bno08x_simpletest.py | 6 +- examples/bno08x_simpletest_spi.py | 6 +- examples/bno08x_simpletest_uart.py | 9 +- ruff.toml | 105 +++++++ 19 files changed, 206 insertions(+), 554 deletions(-) create mode 100644 .gitattributes delete mode 100644 .pylintrc create mode 100644 ruff.toml diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..21c125c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,11 @@ +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +.py text eol=lf +.rst text eol=lf +.txt text eol=lf +.yaml text eol=lf +.toml text eol=lf +.license text eol=lf +.md text eol=lf diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 70ade69..ff19dde 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,42 +1,21 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries # # SPDX-License-Identifier: Unlicense repos: - - repo: https://github.com/python/black - rev: 23.3.0 - hooks: - - id: black - - repo: https://github.com/fsfe/reuse-tool - rev: v1.1.2 - hooks: - - id: reuse - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.5.0 hooks: - id: check-yaml - id: end-of-file-fixer - id: trailing-whitespace - - repo: https://github.com/pycqa/pylint - rev: v2.17.4 + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.3.4 hooks: - - id: pylint - name: pylint (library code) - types: [python] - args: - - --disable=consider-using-f-string - exclude: "^(docs/|examples/|tests/|setup.py$)" - - id: pylint - name: pylint (example code) - description: Run pylint rules on "examples/*.py" files - types: [python] - files: "^examples/" - args: - - --disable=missing-docstring,invalid-name,consider-using-f-string,duplicate-code - - id: pylint - name: pylint (test code) - description: Run pylint rules on "tests/*.py" files - types: [python] - files: "^tests/" - args: - - --disable=missing-docstring,consider-using-f-string,duplicate-code + - id: ruff-format + - id: ruff + args: ["--fix"] + - repo: https://github.com/fsfe/reuse-tool + rev: v3.0.1 + hooks: + - id: reuse diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index f945e92..0000000 --- a/.pylintrc +++ /dev/null @@ -1,399 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist= - -# Add files or directories to the ignore-list. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the ignore-list. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=1 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins=pylint.extensions.no_self_use - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -# disable=import-error,raw-checker-failed,bad-inline-option,locally-disabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,deprecated-str-translate-call -disable=raw-checker-failed,bad-inline-option,locally-disabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,import-error,pointless-string-statement,unspecified-encoding - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable= - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -# notes=FIXME,XXX,TODO -notes=FIXME,XXX - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members= - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=board - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_,_cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -# expected-line-ending-format= -expected-line-ending-format=LF - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=yes - -# Minimum lines number of a similarity. -min-similarity-lines=12 - - -[BASIC] - -# Regular expression matching correct argument names -argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct attribute names -attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo,bar,baz,toto,tutu,tata - -# Regular expression matching correct class attribute names -class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Regular expression matching correct class names -# class-rgx=[A-Z_][a-zA-Z0-9]+$ -class-rgx=[A-Z_][a-zA-Z0-9_]+$ - -# Regular expression matching correct constant names -const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Regular expression matching correct function names -function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Good variable names which should always be accepted, separated by a comma -# good-names=i,j,k,ex,Run,_ -good-names=r,g,b,w,i,j,k,n,x,y,z,ex,ok,Run,_ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Regular expression matching correct inline iteration names -inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ - -# Regular expression matching correct method names -method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct module names -module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Regular expression matching correct variable names -variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__,__new__,setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict,_fields,_replace,_source,_make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -# max-attributes=7 -max-attributes=11 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=1 - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions=builtins.Exception diff --git a/README.rst b/README.rst index e237e41..e338e3a 100644 --- a/README.rst +++ b/README.rst @@ -13,9 +13,9 @@ Introduction :target: https://github.com/adafruit/Adafruit_CircuitPython_BNO08x/actions :alt: Build Status -.. image:: https://img.shields.io/badge/code%20style-black-000000.svg - :target: https://github.com/psf/black - :alt: Code Style: Black +.. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json + :target: https://github.com/astral-sh/ruff + :alt: Code Style: Ruff Helper library for the Hillcrest Laboratories BNO08x IMUs diff --git a/adafruit_bno08x/__init__.py b/adafruit_bno08x/__init__.py index bf6aa50..b4f3449 100644 --- a/adafruit_bno08x/__init__.py +++ b/adafruit_bno08x/__init__.py @@ -1,4 +1,3 @@ -# pylint:disable=too-many-lines # SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries # # SPDX-License-Identifier: MIT @@ -25,14 +24,16 @@ * `Adafruit's Bus Device library `_ """ + from __future__ import annotations __version__ = "0.0.0+auto.0" __repo__ = "https:# github.com/adafruit/Adafruit_CircuitPython_BNO08x.git" -from struct import unpack_from, pack_into -from collections import namedtuple import time +from collections import namedtuple +from struct import pack_into, unpack_from + from micropython import const # TODO: Remove on release @@ -41,6 +42,7 @@ # For IDE type recognition try: from typing import Any, Dict, List, Optional, Tuple, Union + from digitalio import DigitalInOut except ImportError: pass @@ -186,9 +188,7 @@ BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR: (0.0, 0.0, 0.0, 0.0), } -_ENABLED_ACTIVITIES = ( - 0x1FF # All activities; 1 bit set for each of 8 activities, + Unknown -) +_ENABLED_ACTIVITIES = 0x1FF # All activities; 1 bit set for each of 8 activities, + Unknown DATA_BUFFER_SIZE = const(512) # data buffer size. obviously eats ram PacketHeader = namedtuple( @@ -212,7 +212,7 @@ class PacketError(Exception): """Raised when the packet couldnt be parsed""" - pass # pylint:disable=unnecessary-pass + pass def _elapsed(start_time: float) -> float: @@ -250,9 +250,7 @@ def _parse_step_couter_report(report_bytes: bytearray) -> int: def _parse_stability_classifier_report(report_bytes: bytearray) -> str: classification_bitfield = unpack_from(" str: self.report_id, ) else: - outstr += "DBG::\t\t \t** UNKNOWN Report Type **: %s\n" % hex( - self.report_id - ) + outstr += "DBG::\t\t \t** UNKNOWN Report Type **: %s\n" % hex(self.report_id) - if ( - self.report_id > 0xF0 - and len(self.data) >= 6 - and self.data[5] in reports - ): + if self.report_id > 0xF0 and len(self.data) >= 6 and self.data[5] in reports: outstr += "DBG::\t\t \tSensor Report Type: %s(%s)\n" % ( reports[self.data[5]], hex(self.data[5]), ) - if ( - self.report_id == 0xFC - and len(self.data) >= 6 - and self.data[1] in reports - ): + if self.report_id == 0xFC and len(self.data) >= 6 and self.data[1] in reports: outstr += "DBG::\t\t \tEnabled Feature: %s(%s)\n" % ( reports[self.data[1]], hex(self.data[5]), @@ -443,8 +431,8 @@ def __str__(self) -> str: for idx, packet_byte in enumerate(self.data[:length]): packet_index = idx + 4 if (packet_index % 4) == 0: - outstr += "\nDBG::\t\t[0x{:02X}] ".format(packet_index) - outstr += "0x{:02X} ".format(packet_byte) + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " outstr += "\n" outstr += "\t\t*******************************\n" @@ -469,9 +457,7 @@ def header_from_buffer(cls, packet_bytes: bytearray) -> PacketHeader: sequence_number = unpack_from(" bool: return False -class BNO08X: # pylint: disable=too-many-instance-attributes, too-many-public-methods +class BNO08X: """Library for the BNO08x IMUs from Hillcrest Laboratories :param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to. """ - def __init__( - self, reset: Optional[DigitalInOut] = None, debug: bool = False - ) -> None: + def __init__(self, reset: Optional[DigitalInOut] = None, debug: bool = False) -> None: self._debug: bool = debug self._reset: Optional[DigitalInOut] = reset self._dbg("********** __init__ *************") @@ -524,7 +508,7 @@ def initialize(self) -> None: try: if self._check_id(): break - except: # pylint:disable=bare-except + except Exception: time.sleep(0.5) else: raise RuntimeError("Could not read ID") @@ -554,9 +538,7 @@ def geomagnetic_quaternion(self) -> Optional[Tuple[float, float, float, float]]: try: return self._readings[BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR] except KeyError: - raise RuntimeError( - "No geomag quaternion report found, is it enabled?" - ) from None + raise RuntimeError("No geomag quaternion report found, is it enabled?") from None @property def game_quaternion(self) -> Optional[Tuple[float, float, float, float]]: @@ -568,9 +550,7 @@ def game_quaternion(self) -> Optional[Tuple[float, float, float, float]]: try: return self._readings[BNO_REPORT_GAME_ROTATION_VECTOR] except KeyError: - raise RuntimeError( - "No game quaternion report found, is it enabled?" - ) from None + raise RuntimeError("No game quaternion report found, is it enabled?") from None @property def steps(self) -> Optional[int]: @@ -657,9 +637,7 @@ def stability_classification(self) -> Optional[str]: stability_classification = self._readings[BNO_REPORT_STABILITY_CLASSIFIER] return stability_classification except KeyError: - raise RuntimeError( - "No stability classification report found, is it enabled?" - ) from None + raise RuntimeError("No stability classification report found, is it enabled?") from None @property def activity_classification(self) -> Optional[dict]: @@ -682,9 +660,7 @@ def activity_classification(self) -> Optional[dict]: activity_classification = self._readings[BNO_REPORT_ACTIVITY_CLASSIFIER] return activity_classification except KeyError: - raise RuntimeError( - "No activity classification report found, is it enabled?" - ) from None + raise RuntimeError("No activity classification report found, is it enabled?") from None @property def raw_acceleration(self) -> Optional[Tuple[int, int, int]]: @@ -694,9 +670,7 @@ def raw_acceleration(self) -> Optional[Tuple[int, int, int]]: raw_acceleration = self._readings[BNO_REPORT_RAW_ACCELEROMETER] return raw_acceleration except KeyError: - raise RuntimeError( - "No raw acceleration report found, is it enabled?" - ) from None + raise RuntimeError("No raw acceleration report found, is it enabled?") from None @property def raw_gyro(self) -> Optional[Tuple[int, int, int]]: @@ -919,8 +893,8 @@ def _process_report(self, report_id: int, report_bytes: bytearray) -> None: for idx, packet_byte in enumerate(report_bytes): packet_index = idx if (packet_index % 4) == 0: - outstr += "\nDBG::\t\t[0x{:02X}] ".format(packet_index) - outstr += "0x{:02X} ".format(packet_byte) + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " self._dbg(outstr) self._dbg("") @@ -1013,9 +987,7 @@ def _check_id(self) -> bool: self._dbg("\n** Waiting for packet **") # _a_ packet arrived, but which one? while True: - self._wait_for_packet_type( - _BNO_CHANNEL_CONTROL, _SHTP_REPORT_PRODUCT_ID_RESPONSE - ) + self._wait_for_packet_type(_BNO_CHANNEL_CONTROL, _SHTP_REPORT_PRODUCT_ID_RESPONSE) sensor_id = self._parse_sensor_id() if sensor_id: self._id_read = True @@ -1051,7 +1023,6 @@ def _get_data(self, index: int, fmt_string: str) -> Any: data_index = index + 4 return unpack_from(fmt_string, self._data_buffer, offset=data_index)[0] - # pylint:disable=no-self-use @property def _data_ready(self) -> None: raise RuntimeError("Not implemented") @@ -1060,7 +1031,7 @@ def hard_reset(self) -> None: """Hardware reset the sensor to an initial unconfigured state""" if not self._reset: return - import digitalio # pylint:disable=import-outside-toplevel + import digitalio # noqa: PLC0415 self._reset.direction = digitalio.Direction.OUTPUT self._reset.value = True diff --git a/adafruit_bno08x/debug.py b/adafruit_bno08x/debug.py index 6534152..571de89 100644 --- a/adafruit_bno08x/debug.py +++ b/adafruit_bno08x/debug.py @@ -2,6 +2,7 @@ # # SPDX-License-Identifier: MIT """A collection of dictionaries for better debug messages""" + # TODO: Remove for size before release channels = { 0x0: "SHTP_COMMAND", diff --git a/adafruit_bno08x/i2c.py b/adafruit_bno08x/i2c.py index 882acd5..582de8d 100644 --- a/adafruit_bno08x/i2c.py +++ b/adafruit_bno08x/i2c.py @@ -3,12 +3,15 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use I2C +Subclass of `adafruit_bno08x.BNO08X` to use I2C """ + from struct import pack_into + from adafruit_bus_device import i2c_device -from . import BNO08X, DATA_BUFFER_SIZE, const, Packet, PacketError + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, const _BNO08X_DEFAULT_ADDRESS = const(0x4A) @@ -20,9 +23,7 @@ class BNO08X_I2C(BNO08X): """ - def __init__( - self, i2c_bus, reset=None, address=_BNO08X_DEFAULT_ADDRESS, debug=False - ): + def __init__(self, i2c_bus, reset=None, address=_BNO08X_DEFAULT_ADDRESS, debug=False): self.bus_device_obj = i2c_device.I2CDevice(i2c_bus, address) super().__init__(reset, debug) diff --git a/adafruit_bno08x/spi.py b/adafruit_bno08x/spi.py index 9337f0f..dd6ed70 100644 --- a/adafruit_bno08x/spi.py +++ b/adafruit_bno08x/spi.py @@ -3,15 +3,17 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use SPI +Subclass of `adafruit_bno08x.BNO08X` to use SPI """ + import time from struct import pack_into -from digitalio import Direction, Pull from adafruit_bus_device import spi_device -from . import BNO08X, DATA_BUFFER_SIZE, _elapsed, Packet, PacketError +from digitalio import Direction, Pull + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, _elapsed class BNO08X_SPI(BNO08X): @@ -30,12 +32,8 @@ class BNO08X_SPI(BNO08X): # """ - def __init__( - self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False - ): # pylint:disable=too-many-arguments - self._spi = spi_device.SPIDevice( - spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1 - ) + def __init__(self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False): # pylint:disable=too-many-arguments + self._spi = spi_device.SPIDevice(spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1) self._int = intpin super().__init__(resetpin, debug) @@ -115,10 +113,7 @@ def _read_packet(self): if packet_byte_count == 0: raise PacketError("No packet available") - self._dbg( - "channel %d has %d bytes available" - % (channel_number, packet_byte_count - 4) - ) + self._dbg("channel %d has %d bytes available" % (channel_number, packet_byte_count - 4)) if packet_byte_count > DATA_BUFFER_SIZE: self._data_buffer = bytearray(packet_byte_count) diff --git a/adafruit_bno08x/uart.py b/adafruit_bno08x/uart.py index f968268..3cd10c4 100644 --- a/adafruit_bno08x/uart.py +++ b/adafruit_bno08x/uart.py @@ -3,11 +3,13 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use UART +Subclass of `adafruit_bno08x.BNO08X` to use UART """ + import time from struct import pack_into + from . import ( BNO08X, BNO_CHANNEL_EXE, @@ -119,10 +121,7 @@ def _read_packet(self): if packet_byte_count == 0: raise PacketError("No packet available") - self._dbg( - "channel %d has %d bytes available" - % (channel_number, packet_byte_count - 4) - ) + self._dbg("channel %d has %d bytes available" % (channel_number, packet_byte_count - 4)) if packet_byte_count > DATA_BUFFER_SIZE: self._data_buffer = bytearray(packet_byte_count) diff --git a/docs/api.rst b/docs/api.rst index ecae971..94131db 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -4,5 +4,8 @@ .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) .. use this format as the module name: "adafruit_foo.foo" +API Reference +############# + .. automodule:: adafruit_bno08x :members: diff --git a/docs/conf.py b/docs/conf.py index a28bd23..a3fc27e 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,12 +1,10 @@ -# -*- coding: utf-8 -*- - # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries # # SPDX-License-Identifier: MIT +import datetime import os import sys -import datetime sys.path.insert(0, os.path.abspath("..")) @@ -48,9 +46,7 @@ creation_year = "2020" current_year = str(datetime.datetime.now().year) year_duration = ( - current_year - if current_year == creation_year - else creation_year + " - " + current_year + current_year if current_year == creation_year else creation_year + " - " + current_year ) copyright = year_duration + " Bryan Siepert" author = "Bryan Siepert" diff --git a/examples/bno08x_calibration.py b/examples/bno08x_calibration.py index 9a98f10..c6909ee 100644 --- a/examples/bno08x_calibration.py +++ b/examples/bno08x_calibration.py @@ -2,9 +2,11 @@ # # SPDX-License-Identifier: Unlicense import time + import board import busio from digitalio import DigitalInOut + import adafruit_bno08x from adafruit_bno08x.i2c import BNO08X_I2C diff --git a/examples/bno08x_find_heading.py b/examples/bno08x_find_heading.py index e0c3f1d..7a52ef2 100644 --- a/examples/bno08x_find_heading.py +++ b/examples/bno08x_find_heading.py @@ -2,12 +2,14 @@ # SPDX-License-Identifier: Unlicense import time -from math import atan2, sqrt, pi +from math import atan2, pi, sqrt + from board import SCL, SDA from busio import I2C + from adafruit_bno08x import ( - BNO_REPORT_ROTATION_VECTOR, BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR, + BNO_REPORT_ROTATION_VECTOR, ) from adafruit_bno08x.i2c import BNO08X_I2C diff --git a/examples/bno08x_more_reports.py b/examples/bno08x_more_reports.py index 15a6743..b705dd6 100644 --- a/examples/bno08x_more_reports.py +++ b/examples/bno08x_more_reports.py @@ -2,8 +2,10 @@ # # SPDX-License-Identifier: MIT import time + import board import busio + import adafruit_bno08x from adafruit_bno08x.i2c import BNO08X_I2C @@ -49,17 +51,12 @@ linear_accel_y, linear_accel_z, ) = bno.linear_acceleration # pylint:disable=no-member - print( - "X: %0.6f Y: %0.6f Z: %0.6f m/s^2" - % (linear_accel_x, linear_accel_y, linear_accel_z) - ) + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (linear_accel_x, linear_accel_y, linear_accel_z)) print("") print("Rotation Vector Quaternion:") quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") print("Geomagnetic Rotation Vector Quaternion:") @@ -108,11 +105,7 @@ raw_accel_y, raw_accel_z, ) = bno.raw_acceleration - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_accel_x, raw_accel_y, raw_accel_z - ) - ) + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") print("") print("Raw Gyro:") @@ -121,11 +114,7 @@ raw_accel_y, raw_accel_z, ) = bno.raw_gyro - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_accel_x, raw_accel_y, raw_accel_z - ) - ) + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") print("") print("Raw Magnetometer:") @@ -134,11 +123,7 @@ raw_mag_y, raw_mag_z, ) = bno.raw_magnetic - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_mag_x, raw_mag_y, raw_mag_z - ) - ) + print(f"X: 0x{raw_mag_x:04X} Y: 0x{raw_mag_y:04X} Z: 0x{raw_mag_z:04X} LSB") print("") time.sleep(0.4) if bno.shake: diff --git a/examples/bno08x_quaternion_service.py b/examples/bno08x_quaternion_service.py index d4b3415..24ff0ca 100644 --- a/examples/bno08x_quaternion_service.py +++ b/examples/bno08x_quaternion_service.py @@ -2,10 +2,12 @@ # # SPDX-License-Identifier: MIT import time + import board from adafruit_ble import BLERadio from adafruit_ble_adafruit.adafruit_service import AdafruitServerAdvertisement from adafruit_ble_adafruit.quaternion_service import QuaternionService + from adafruit_bno08x import BNO08X i2c = board.I2C() # uses board.SCL and board.SDA @@ -33,7 +35,7 @@ ble.stop_advertising() while ble.connected: - now_msecs = time.monotonic_ns() // 1000000 # pylint: disable=no-member + now_msecs = time.monotonic_ns() // 1000000 if now_msecs - quat_last_read >= quat_svc.measurement_period: quat_svc.quaternion = bno.quaternion diff --git a/examples/bno08x_simpletest.py b/examples/bno08x_simpletest.py index 647c4dc..0a1e989 100644 --- a/examples/bno08x_simpletest.py +++ b/examples/bno08x_simpletest.py @@ -2,8 +2,10 @@ # # SPDX-License-Identifier: Unlicense import time + import board import busio + from adafruit_bno08x import ( BNO_REPORT_ACCELEROMETER, BNO_REPORT_GYROSCOPE, @@ -39,7 +41,5 @@ print("Rotation Vector Quaternion:") quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") diff --git a/examples/bno08x_simpletest_spi.py b/examples/bno08x_simpletest_spi.py index 747a7dc..f840349 100644 --- a/examples/bno08x_simpletest_spi.py +++ b/examples/bno08x_simpletest_spi.py @@ -2,9 +2,11 @@ # # SPDX-License-Identifier: Unlicense from time import sleep + import board import busio from digitalio import DigitalInOut, Direction + from adafruit_bno08x.spi import BNO08X_SPI # need to limit clock to 3Mhz @@ -28,8 +30,6 @@ print("getting quat") quat = bno.quaternion # pylint:disable=no-member print("Rotation Vector Quaternion:") - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real) - ) + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real)) print("") sleep(0.5) diff --git a/examples/bno08x_simpletest_uart.py b/examples/bno08x_simpletest_uart.py index f657bd5..789030b 100644 --- a/examples/bno08x_simpletest_uart.py +++ b/examples/bno08x_simpletest_uart.py @@ -2,12 +2,13 @@ # # SPDX-License-Identifier: Unlicense import time -import adafruit_bno08x -from adafruit_bno08x.uart import BNO08X_UART import board # pylint:disable=wrong-import-order import busio # pylint:disable=wrong-import-order +import adafruit_bno08x +from adafruit_bno08x.uart import BNO08X_UART + uart = busio.UART(board.TX, board.RX, baudrate=3000000, receiver_buffer_size=2048) # uncomment and comment out the above for use with Raspberry Pi @@ -58,9 +59,7 @@ print("Rotation Vector Quaternion:") quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") # print("Linear Acceleration:") diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..36332ff --- /dev/null +++ b/ruff.toml @@ -0,0 +1,105 @@ +# SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +target-version = "py38" +line-length = 100 + +[lint] +preview = true +select = ["I", "PL", "UP"] + +extend-select = [ + "D419", # empty-docstring + "E501", # line-too-long + "W291", # trailing-whitespace + "PLC0414", # useless-import-alias + "PLC2401", # non-ascii-name + "PLC2801", # unnecessary-dunder-call + "PLC3002", # unnecessary-direct-lambda-call + "E999", # syntax-error + "PLE0101", # return-in-init + "F706", # return-outside-function + "F704", # yield-outside-function + "PLE0116", # continue-in-finally + "PLE0117", # nonlocal-without-binding + "PLE0241", # duplicate-bases + "PLE0302", # unexpected-special-method-signature + "PLE0604", # invalid-all-object + "PLE0605", # invalid-all-format + "PLE0643", # potential-index-error + "PLE0704", # misplaced-bare-raise + "PLE1141", # dict-iter-missing-items + "PLE1142", # await-outside-async + "PLE1205", # logging-too-many-args + "PLE1206", # logging-too-few-args + "PLE1307", # bad-string-format-type + "PLE1310", # bad-str-strip-call + "PLE1507", # invalid-envvar-value + "PLE2502", # bidirectional-unicode + "PLE2510", # invalid-character-backspace + "PLE2512", # invalid-character-sub + "PLE2513", # invalid-character-esc + "PLE2514", # invalid-character-nul + "PLE2515", # invalid-character-zero-width-space + "PLR0124", # comparison-with-itself + "PLR0202", # no-classmethod-decorator + "PLR0203", # no-staticmethod-decorator + "UP004", # useless-object-inheritance + "PLR0206", # property-with-parameters + "PLR0904", # too-many-public-methods + "PLR0911", # too-many-return-statements + "PLR0912", # too-many-branches + "PLR0913", # too-many-arguments + "PLR0914", # too-many-locals + "PLR0915", # too-many-statements + "PLR0916", # too-many-boolean-expressions + "PLR1702", # too-many-nested-blocks + "PLR1704", # redefined-argument-from-local + "PLR1711", # useless-return + "C416", # unnecessary-comprehension + "PLR1733", # unnecessary-dict-index-lookup + "PLR1736", # unnecessary-list-index-lookup + + # ruff reports this rule is unstable + #"PLR6301", # no-self-use + + "PLW0108", # unnecessary-lambda + "PLW0120", # useless-else-on-loop + "PLW0127", # self-assigning-variable + "PLW0129", # assert-on-string-literal + "B033", # duplicate-value + "PLW0131", # named-expr-without-context + "PLW0245", # super-without-brackets + "PLW0406", # import-self + "PLW0602", # global-variable-not-assigned + "PLW0603", # global-statement + "PLW0604", # global-at-module-level + + # fails on the try: import typing used by libraries + #"F401", # unused-import + + "F841", # unused-variable + "E722", # bare-except + "PLW0711", # binary-op-exception + "PLW1501", # bad-open-mode + "PLW1508", # invalid-envvar-default + "PLW1509", # subprocess-popen-preexec-fn + "PLW2101", # useless-with-lock + "PLW3301", # nested-min-max +] + +ignore = [ + "PLR2004", # magic-value-comparison + "UP030", # format literals + "PLW1514", # unspecified-encoding + "PLR0913", # too-many-arguments + "PLR0915", # too-many-statements + "PLR0917", # too-many-positional-arguments + "PLR0904", # too-many-public-methods + "PLR0912", # too-many-branches + "PLR0916", # too-many-boolean-expressions +] + +[format] +line-ending = "lf" From 5501a0af9f7611a65949f8c8187e44e593811625 Mon Sep 17 00:00:00 2001 From: foamyguy Date: Tue, 13 May 2025 15:17:57 -0500 Subject: [PATCH 2/5] ruff lint fixes --- adafruit_bno08x/__init__.py | 58 ++++++++++++++++++------------------- ruff.toml | 2 ++ 2 files changed, 31 insertions(+), 29 deletions(-) diff --git a/adafruit_bno08x/__init__.py b/adafruit_bno08x/__init__.py index b4f3449..4cf9f93 100644 --- a/adafruit_bno08x/__init__.py +++ b/adafruit_bno08x/__init__.py @@ -220,7 +220,7 @@ def _elapsed(start_time: float) -> float: ############ PACKET PARSING ########################### -def _parse_sensor_report_data(report_bytes: bytearray) -> Tuple[Tuple, int]: +def _parse_sensor_report_data(report_bytes: bytearray) -> tuple[tuple, int]: """Parses reports with only 16-bit fields""" data_offset = 4 # this may not always be true report_id = report_bytes[0] @@ -260,7 +260,7 @@ def _parse_stability_classifier_report(report_bytes: bytearray) -> str: # report_interval # batch_interval_word # sensor_specific_configuration_word -def _parse_get_feature_response_report(report_bytes: bytearray) -> Tuple[Any, ...]: +def _parse_get_feature_response_report(report_bytes: bytearray) -> tuple[Any, ...]: return unpack_from(" Tuple[Any, .. # 4 Page Number + EOS # 5 Most likely state # 6-15 Classification (10 x Page Number) + confidence -def _parse_activity_classifier_report(report_bytes: bytearray) -> Dict[str, str]: +def _parse_activity_classifier_report(report_bytes: bytearray) -> dict[str, str]: activities = [ "Unknown", "In-Vehicle", # look @@ -304,7 +304,7 @@ def _parse_shake_report(report_bytes: bytearray) -> bool: return (shake_bitfield & 0x111) > 0 -def parse_sensor_id(buffer: bytearray) -> Tuple[int, ...]: +def parse_sensor_id(buffer: bytearray) -> tuple[int, ...]: """Parse the fields of a product id report""" if not buffer[0] == _SHTP_REPORT_PRODUCT_ID_RESPONSE: raise AttributeError("Wrong report id for sensor id: %s" % hex(buffer[0])) @@ -318,7 +318,7 @@ def parse_sensor_id(buffer: bytearray) -> Tuple[int, ...]: return (sw_part_number, sw_major, sw_minor, sw_patch, sw_build_number) -def _parse_command_response(report_bytes: bytearray) -> Tuple[Any, Any]: +def _parse_command_response(report_bytes: bytearray) -> tuple[Any, Any]: # CMD response report: # 0 Report ID = 0xF1 # 1 Sequence number @@ -336,7 +336,7 @@ def _insert_command_request_report( command: int, buffer: bytearray, next_sequence_number: int, - command_params: Optional[List[int]] = None, + command_params: Optional[list[int]] = None, ) -> None: if command_params and len(command_params) > 9: raise AttributeError( @@ -362,7 +362,7 @@ def _report_length(report_id: int) -> int: return _REPORT_LENGTHS[report_id] -def _separate_batch(packet: Packet, report_slices: List[Any]) -> None: +def _separate_batch(packet: Packet, report_slices: list[Any]) -> None: # get first report id, loop up its report length # read that many bytes, parse them next_byte_index = 0 @@ -401,10 +401,10 @@ def __str__(self) -> str: channels[self.channel_number], self.channel_number, ) - if self.channel_number in [ + if self.channel_number in { _BNO_CHANNEL_CONTROL, _BNO_CHANNEL_INPUT_SENSOR_REPORTS, - ]: + }: if self.report_id in reports: outstr += "DBG::\t\t \tReport Type: %s (0x%x)\n" % ( reports[self.report_id], @@ -484,11 +484,11 @@ def __init__(self, reset: Optional[DigitalInOut] = None, debug: bool = False) -> self._dbg("********** __init__ *************") self._data_buffer: bytearray = bytearray(DATA_BUFFER_SIZE) self._command_buffer: bytearray = bytearray(12) - self._packet_slices: List[Any] = [] + self._packet_slices: list[Any] = [] # TODO: this is wrong there should be one per channel per direction - self._sequence_number: List[int] = [0, 0, 0, 0, 0, 0] - self._two_ended_sequence_numbers: Dict[int, int] = {} + self._sequence_number: list[int] = [0, 0, 0, 0, 0, 0] + self._two_ended_sequence_numbers: dict[int, int] = {} self._dcd_saved_at: float = -1 self._me_calibration_started_at: float = -1.0 self._calibration_complete = False @@ -497,7 +497,7 @@ def __init__(self, reset: Optional[DigitalInOut] = None, debug: bool = False) -> self._init_complete = False self._id_read = False # for saving the most recent reading when decoding several packets - self._readings: Dict[int, Any] = {} + self._readings: dict[int, Any] = {} self.initialize() def initialize(self) -> None: @@ -514,7 +514,7 @@ def initialize(self) -> None: raise RuntimeError("Could not read ID") @property - def magnetic(self) -> Optional[Tuple[float, float, float]]: + def magnetic(self) -> Optional[tuple[float, float, float]]: """A tuple of the current magnetic field measurements on the X, Y, and Z axes""" self._process_available_packets() # decorator? try: @@ -523,7 +523,7 @@ def magnetic(self) -> Optional[Tuple[float, float, float]]: raise RuntimeError("No magfield report found, is it enabled?") from None @property - def quaternion(self) -> Optional[Tuple[float, float, float, float]]: + def quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current rotation vector""" self._process_available_packets() try: @@ -532,7 +532,7 @@ def quaternion(self) -> Optional[Tuple[float, float, float, float]]: raise RuntimeError("No quaternion report found, is it enabled?") from None @property - def geomagnetic_quaternion(self) -> Optional[Tuple[float, float, float, float]]: + def geomagnetic_quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current geomagnetic rotation vector""" self._process_available_packets() try: @@ -541,7 +541,7 @@ def geomagnetic_quaternion(self) -> Optional[Tuple[float, float, float, float]]: raise RuntimeError("No geomag quaternion report found, is it enabled?") from None @property - def game_quaternion(self) -> Optional[Tuple[float, float, float, float]]: + def game_quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current rotation vector expressed as a quaternion with no specific reference for heading, while roll and pitch are referenced against gravity. To prevent sudden jumps in heading due to corrections, the `game_quaternion` property is not @@ -562,7 +562,7 @@ def steps(self) -> Optional[int]: raise RuntimeError("No steps report found, is it enabled?") from None @property - def linear_acceleration(self) -> Optional[Tuple[float, float, float]]: + def linear_acceleration(self) -> Optional[tuple[float, float, float]]: """A tuple representing the current linear acceleration values on the X, Y, and Z axes in meters per second squared""" self._process_available_packets() @@ -572,7 +572,7 @@ def linear_acceleration(self) -> Optional[Tuple[float, float, float]]: raise RuntimeError("No lin. accel report found, is it enabled?") from None @property - def acceleration(self) -> Optional[Tuple[float, float, float]]: + def acceleration(self) -> Optional[tuple[float, float, float]]: """A tuple representing the acceleration measurements on the X, Y, and Z axes in meters per second squared""" self._process_available_packets() @@ -582,7 +582,7 @@ def acceleration(self) -> Optional[Tuple[float, float, float]]: raise RuntimeError("No accel report found, is it enabled?") from None @property - def gravity(self) -> Optional[Tuple[float, float, float]]: + def gravity(self) -> Optional[tuple[float, float, float]]: """A tuple representing the gravity vector in the X, Y, and Z components axes in meters per second squared""" self._process_available_packets() @@ -592,7 +592,7 @@ def gravity(self) -> Optional[Tuple[float, float, float]]: raise RuntimeError("No gravity report found, is it enabled?") from None @property - def gyro(self) -> Optional[Tuple[float, float, float]]: + def gyro(self) -> Optional[tuple[float, float, float]]: """A tuple representing Gyro's rotation measurements on the X, Y, and Z axes in radians per second""" self._process_available_packets() @@ -663,7 +663,7 @@ def activity_classification(self) -> Optional[dict]: raise RuntimeError("No activity classification report found, is it enabled?") from None @property - def raw_acceleration(self) -> Optional[Tuple[int, int, int]]: + def raw_acceleration(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the accelerometer registers""" self._process_available_packets() try: @@ -673,7 +673,7 @@ def raw_acceleration(self) -> Optional[Tuple[int, int, int]]: raise RuntimeError("No raw acceleration report found, is it enabled?") from None @property - def raw_gyro(self) -> Optional[Tuple[int, int, int]]: + def raw_gyro(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the gyro registers""" self._process_available_packets() try: @@ -683,7 +683,7 @@ def raw_gyro(self) -> Optional[Tuple[int, int, int]]: raise RuntimeError("No raw gyro report found, is it enabled?") from None @property - def raw_magnetic(self) -> Optional[Tuple[int, int, int]]: + def raw_magnetic(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the magnetometer registers""" self._process_available_packets() try: @@ -728,7 +728,7 @@ def calibration_status(self) -> int: ) return self._magnetometer_accuracy - def _send_me_command(self, subcommand_params: Optional[List[int]]) -> None: + def _send_me_command(self, subcommand_params: Optional[list[int]]) -> None: start_time = time.monotonic() local_buffer = self._command_buffer _insert_command_request_report( @@ -800,10 +800,10 @@ def _wait_for_packet_type( return new_packet else: return new_packet - if new_packet.channel_number not in ( + if new_packet.channel_number not in { BNO_CHANNEL_EXE, BNO_CHANNEL_SHTP_COMMAND, - ): + }: self._dbg("passing packet to handler for de-slicing") self._handle_packet(new_packet) @@ -1060,10 +1060,10 @@ def soft_reset(self) -> None: self._dbg("OK!") # all is good! - def _send_packet(self, channel: int, data: bytearray) -> Optional[int]: + def _send_packet(self, channel: int, data: bytearray) -> Optional[int]: # noqa: PLR6301 raise RuntimeError("Not implemented") - def _read_packet(self) -> Optional[Packet]: + def _read_packet(self) -> Optional[Packet]: # noqa: PLR6301 raise RuntimeError("Not implemented") def _increment_report_seq(self, report_id: int) -> None: diff --git a/ruff.toml b/ruff.toml index 36332ff..e4564d3 100644 --- a/ruff.toml +++ b/ruff.toml @@ -99,6 +99,8 @@ ignore = [ "PLR0904", # too-many-public-methods "PLR0912", # too-many-branches "PLR0916", # too-many-boolean-expressions + "UP007", # use x | y for type + "UP031", # use format instead of percent ] [format] From a0a217e7ac0a211f4e05dc3c501039f5fe03d00a Mon Sep 17 00:00:00 2001 From: foamyguy Date: Tue, 13 May 2025 15:23:37 -0500 Subject: [PATCH 3/5] remove pylint disables --- README.rst | 2 +- adafruit_bno08x/spi.py | 2 +- adafruit_bno08x/uart.py | 2 -- examples/bno08x_calibration.py | 4 ++-- examples/bno08x_more_reports.py | 14 +++++++------- examples/bno08x_simpletest.py | 8 ++++---- examples/bno08x_simpletest_spi.py | 2 +- examples/bno08x_simpletest_uart.py | 18 +++++++++--------- 8 files changed, 25 insertions(+), 27 deletions(-) diff --git a/README.rst b/README.rst index e338e3a..dcb42c7 100644 --- a/README.rst +++ b/README.rst @@ -71,7 +71,7 @@ Usage Example bno.enable_feature(BNO_REPORT_ACCELEROMETER) while True: - accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) Documentation diff --git a/adafruit_bno08x/spi.py b/adafruit_bno08x/spi.py index dd6ed70..9e57416 100644 --- a/adafruit_bno08x/spi.py +++ b/adafruit_bno08x/spi.py @@ -32,7 +32,7 @@ class BNO08X_SPI(BNO08X): # """ - def __init__(self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False): # pylint:disable=too-many-arguments + def __init__(self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False): self._spi = spi_device.SPIDevice(spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1) self._int = intpin super().__init__(resetpin, debug) diff --git a/adafruit_bno08x/uart.py b/adafruit_bno08x/uart.py index 3cd10c4..706d62b 100644 --- a/adafruit_bno08x/uart.py +++ b/adafruit_bno08x/uart.py @@ -37,7 +37,6 @@ def _send_packet(self, channel, data): byte_buffer = bytearray(1) # request available size - # pylint:disable=pointless-string-statement """ self._uart.write(b'\x7e') # start byte time.sleep(0.001) @@ -48,7 +47,6 @@ def _send_packet(self, channel, data): if avail[0] != 0x7e and avail[1] != 0x01 and avail[4] != 0x7e: raise RuntimeError("Couldn't get available buffer size") """ - # pylint:enable=pointless-string-statement pack_into(" Date: Tue, 13 May 2025 15:25:17 -0500 Subject: [PATCH 4/5] remove unused type imports --- adafruit_bno08x/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adafruit_bno08x/__init__.py b/adafruit_bno08x/__init__.py index 4cf9f93..fb909f7 100644 --- a/adafruit_bno08x/__init__.py +++ b/adafruit_bno08x/__init__.py @@ -41,7 +41,7 @@ # For IDE type recognition try: - from typing import Any, Dict, List, Optional, Tuple, Union + from typing import Any, Optional from digitalio import DigitalInOut except ImportError: From 929e8a3d9aa27a6786e360f9f1c64aff1c1a418b Mon Sep 17 00:00:00 2001 From: foamyguy Date: Tue, 13 May 2025 15:29:03 -0500 Subject: [PATCH 5/5] fix copy errors --- examples/bno08x_more_reports.py | 14 +++++++------- examples/bno08x_simpletest.py | 8 ++++---- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/examples/bno08x_more_reports.py b/examples/bno08x_more_reports.py index 2095e2b..3624887 100644 --- a/examples/bno08x_more_reports.py +++ b/examples/bno08x_more_reports.py @@ -31,17 +31,17 @@ time.sleep(0.1) print("Acceleration:") - accel_x, accel_y, accel_z = bno.accelerationdict + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) print("") print("Gyro:") - gyro_x, gyro_y, gyro_z = bno.gyrodict + gyro_x, gyro_y, gyro_z = bno.gyro print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) print("") print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magneticdict + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") @@ -50,12 +50,12 @@ linear_accel_x, linear_accel_y, linear_accel_z, - ) = bno.linear_accelerationdict + ) = bno.linear_acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (linear_accel_x, linear_accel_y, linear_accel_z)) print("") print("Rotation Vector Quaternion:") - quat_i, quat_j, quat_k, quat_real = bno.quaterniondict + quat_i, quat_j, quat_k, quat_real = bno.quaternion print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") @@ -65,7 +65,7 @@ geo_quat_j, geo_quat_k, geo_quat_real, - ) = bno.geomagnetic_quaterniondict + ) = bno.geomagnetic_quaternion print( "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real) @@ -78,7 +78,7 @@ game_quat_j, game_quat_k, game_quat_real, - ) = bno.game_quaterniondict + ) = bno.game_quaternion print( "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) diff --git a/examples/bno08x_simpletest.py b/examples/bno08x_simpletest.py index 72bfa65..4335994 100644 --- a/examples/bno08x_simpletest.py +++ b/examples/bno08x_simpletest.py @@ -25,21 +25,21 @@ while True: time.sleep(0.5) print("Acceleration:") - accel_x, accel_y, accel_z = bno.accelerationdict + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) print("") print("Gyro:") - gyro_x, gyro_y, gyro_z = bno.gyrodict + gyro_x, gyro_y, gyro_z = bno.gyro print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) print("") print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magneticdict + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") print("Rotation Vector Quaternion:") - quat_i, quat_j, quat_k, quat_real = bno.quaterniondict + quat_i, quat_j, quat_k, quat_real = bno.quaternion print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("")