Merge pull request #66 from ori-drs/improvement/black-formatting

Apply black formatter and add github action to check conformity

.github/workflows/black.yml

@@ -0,0 +1,12 @@
+name: Black formatting
+
+on: [push, pull_request]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: psf/black@stable
+        with:
+          src: "spot_driver/src spot_driver/scripts"

docs/conf.py

@@ -7,31 +7,29 @@
 sys.path.insert(0, os.path.abspath(os.path.dirname(__file__)))
 
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.viewcode',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.viewcode",
 ]
 
-source_suffix = '.rst'
-master_doc = 'index'
+source_suffix = ".rst"
+master_doc = "index"
 
-project = u'Spot ROS User Documentation'
-copyright = u'2020, Clearpath Robotics'
+project = "Spot ROS User Documentation"
+copyright = "2020, Clearpath Robotics"
 
 # Get version number from package.xml.
-tree = etree.parse('../spot_driver/package.xml')
+tree = etree.parse("../spot_driver/package.xml")
 version = tree.find("version").text
 release = version
 
-#.. html_theme = 'nature'
-#.. html_theme_path = ["."]
+# .. html_theme = 'nature'
+# .. html_theme_path = ["."]
 html_theme = "sphinx_rtd_theme"
 html_theme_path = ["."]
 
 
-html_sidebars = {
-   '**': ['sidebartoc.html', 'sourcelink.html', 'searchbox.html']
-}
+html_sidebars = {"**": ["sidebartoc.html", "sourcelink.html", "searchbox.html"]}
 
 # If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
 html_show_sphinx = False
@@ -48,15 +46,12 @@
     # The paper size ('letterpaper' or 'a4paper').
     #
     # 'papersize': 'letterpaper',
-
     # The font size ('10pt', '11pt' or '12pt').
     #
     # 'pointsize': '10pt',
-
     # Additional stuff for the LaTeX preamble.
     #
     # 'preamble': '',
-
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
@@ -66,6 +61,11 @@
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, 'SpotROSUserDocumentation.tex', 'Spot ROS User Documentation',
-     'Dave Niewinski', 'manual'),
+    (
+        master_doc,
+        "SpotROSUserDocumentation.tex",
+        "Spot ROS User Documentation",
+        "Dave Niewinski",
+        "manual",
+    ),
 ]

spot_driver/doc/conf.py

@@ -1,28 +1,23 @@
 import os
 import sys
-sys.path.insert(0, os.path.abspath('../scripts'))
 
-project = 'spot_driver'
-copyright = '2020, Dave Niewinski'
-author = 'Dave Niewinski'
+sys.path.insert(0, os.path.abspath("../scripts"))
 
-extensions = [
-'sphinx.ext.autodoc',
-'sphinx.ext.coverage',
-'sphinx.ext.napoleon'
-]
+project = "spot_driver"
+copyright = "2020, Dave Niewinski"
+author = "Dave Niewinski"
 
-html_theme = 'clearpath-sphinx-theme'
+extensions = ["sphinx.ext.autodoc", "sphinx.ext.coverage", "sphinx.ext.napoleon"]
+
+html_theme = "clearpath-sphinx-theme"
 html_theme_path = ["."]
 
-html_static_path = ['./clearpath-sphinx-theme/static']
+html_static_path = ["./clearpath-sphinx-theme/static"]
 
-html_sidebars = {
-   '**': ['sidebartoc.html', 'sourcelink.html', 'searchbox.html']
-}
+html_sidebars = {"**": ["sidebartoc.html", "sourcelink.html", "searchbox.html"]}
 
 html_show_sphinx = False
 
-html_logo = 'clearpath-sphinx-theme/static/clearpathlogo.png'
+html_logo = "clearpath-sphinx-theme/static/clearpathlogo.png"
 
-html_favicon = 'clearpath-sphinx-theme/static/favicon.ico'
+html_favicon = "clearpath-sphinx-theme/static/favicon.ico"

spot_driver/setup.py

@@ -2,9 +2,7 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-    packages=['spot_driver'],
-    scripts=['scripts/spot_ros'],
-    package_dir={'': 'src'}
+    packages=["spot_driver"], scripts=["scripts/spot_ros"], package_dir={"": "src"}
 )
 
-setup(**d)
+setup(**d)

spot_driver/src/spot_driver/graph_nav_util.py

@@ -9,20 +9,28 @@
 
 def id_to_short_code(id):
     """Convert a unique id to a 2 letter short code."""
-    tokens = id.split('-')
+    tokens = id.split("-")
     if len(tokens) > 2:
-        return '%c%c' % (tokens[0][0], tokens[1][0])
+        return "%c%c" % (tokens[0][0], tokens[1][0])
     return None
 
 
-def pretty_print_waypoints(waypoint_id, waypoint_name, short_code_to_count, localization_id, logger):
+def pretty_print_waypoints(
+    waypoint_id, waypoint_name, short_code_to_count, localization_id, logger
+):
     short_code = id_to_short_code(waypoint_id)
     if short_code is None or short_code_to_count[short_code] != 1:
-        short_code = '  '  # If the short code is not valid/unique, don't show it.
+        short_code = "  "  # If the short code is not valid/unique, don't show it.
 
-    logger.info("%s Waypoint name: %s id: %s short code: %s" %
-            ('->' if localization_id == waypoint_id else '  ',
-            waypoint_name, waypoint_id, short_code))
+    logger.info(
+        "%s Waypoint name: %s id: %s short code: %s"
+        % (
+            "->" if localization_id == waypoint_id else "  ",
+            waypoint_name,
+            waypoint_id,
+            short_code,
+        )
+    )
 
 
 def find_unique_waypoint_id(short_code, graph, name_to_id, logger):
@@ -35,8 +43,10 @@ def find_unique_waypoint_id(short_code, graph, name_to_id, logger):
                 # Has an associated waypoint id!
                 return name_to_id[short_code]
             else:
-                logger.error("The waypoint name %s is used for multiple different unique waypoints. Please use" + \
-                        "the waypoint id." % (short_code))
+                logger.error(
+                    "The waypoint name %s is used for multiple different unique waypoints. Please use"
+                    + "the waypoint id." % (short_code)
+                )
                 return None
         # Also not an waypoint annotation name, so we will operate under the assumption that it is a
         # unique waypoint id.
@@ -62,14 +72,17 @@ def update_waypoints_and_edges(graph, localization_id, logger):
         # Determine the timestamp that this waypoint was created at.
         timestamp = -1.0
         try:
-            timestamp = waypoint.annotations.creation_time.seconds + waypoint.annotations.creation_time.nanos / 1e9
+            timestamp = (
+                waypoint.annotations.creation_time.seconds
+                + waypoint.annotations.creation_time.nanos / 1e9
+            )
         except:
             # Must be operating on an older graph nav map, since the creation_time is not
             # available within the waypoint annotations message.
             pass
-        waypoint_to_timestamp.append((waypoint.id,
-                                        timestamp,
-                                        waypoint.annotations.name))
+        waypoint_to_timestamp.append(
+            (waypoint.id, timestamp, waypoint.annotations.name)
+        )
 
         # Determine how many waypoints have the same short code.
         short_code = id_to_short_code(waypoint.id)
@@ -91,21 +104,27 @@ def update_waypoints_and_edges(graph, localization_id, logger):
 
     # Sort the set of waypoints by their creation timestamp. If the creation timestamp is unavailable,
     # fallback to sorting by annotation name.
-    waypoint_to_timestamp = sorted(waypoint_to_timestamp, key= lambda x:(x[1], x[2]))
+    waypoint_to_timestamp = sorted(waypoint_to_timestamp, key=lambda x: (x[1], x[2]))
 
     # Print out the waypoints name, id, and short code in a ordered sorted by the timestamp from
     # when the waypoint was created.
-    logger.info('%d waypoints:' % len(graph.waypoints))
+    logger.info("%d waypoints:" % len(graph.waypoints))
     for waypoint in waypoint_to_timestamp:
-        pretty_print_waypoints(waypoint[0], waypoint[2], short_code_to_count, localization_id, logger)
+        pretty_print_waypoints(
+            waypoint[0], waypoint[2], short_code_to_count, localization_id, logger
+        )
 
     for edge in graph.edges:
         if edge.id.to_waypoint in edges:
             if edge.id.from_waypoint not in edges[edge.id.to_waypoint]:
                 edges[edge.id.to_waypoint].append(edge.id.from_waypoint)
         else:
             edges[edge.id.to_waypoint] = [edge.id.from_waypoint]
-        logger.info("(Edge) from waypoint id: ", edge.id.from_waypoint, " and to waypoint id: ",
-                edge.id.to_waypoint)
+        logger.info(
+            "(Edge) from waypoint id: ",
+            edge.id.from_waypoint,
+            " and to waypoint id: ",
+            edge.id.to_waypoint,
+        )
 
     return name_to_id, edges