469 task rewrite thruster interface

.pre-commit-config.yaml

@@ -56,7 +56,6 @@ repos:
             "--select=D",
             "--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D401",
             "--fix",
-            "--unsafe-fixes"
             ]
         stages: [pre-commit]
         pass_filenames: true

acoustics/acoustics_data_record/acoustics_data_record/acoustics_data_record_lib.py

@@ -49,23 +49,6 @@ def log_data_to_csv_file(
         tdoa: list[float] = [0.0],
         position: list[float] = [0.0],
     ) -> None:
-        """Logs the provided data to a CSV file.
-
-        Parameters:
-        self (object): The instance of the class.
-        hydrophone1 (list, optional): Data from hydrophone 1. Defaults to [0].
-        hydrophone2 (list, optional): Data from hydrophone 2. Defaults to [0].
-        hydrophone3 (list, optional): Data from hydrophone 3. Defaults to [0].
-        hydrophone4 (list, optional): Data from hydrophone 4. Defaults to [0].
-        hydrophone5 (list, optional): Data from hydrophone 5. Defaults to [0].
-        filter_response (list, optional): Filter response data. Defaults to [0].
-        fft (list, optional): FFT data. Defaults to [0].
-        peaks (list, optional): Peaks data. Defaults to [0].
-        tdoa (list, optional): Time Difference of Arrival data. Defaults to [0.0].
-        position (list, optional): Position data. Defaults to [0.0].
-
-        Writes the current time and provided data to a CSV file located at self.data_file_location.
-        """
         # Get current time in hours, minutes, seconds and milliseconds
         current_time = datetime.now().strftime("%H:%M:%S.%f")[:-3]
 

acoustics/acoustics_data_record/acoustics_data_record/acoustics_data_record_node.py

@@ -137,6 +137,7 @@ def hydrophone1_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing hydrophone1 data.
+
         """
         self.hydrophone1_data = msg.data
 
@@ -145,6 +146,7 @@ def hydrophone2_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing hydrophone2 data.
+
         """
         self.hydrophone2_data = msg.data
 
@@ -153,6 +155,7 @@ def hydrophone3_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing hydrophone3 data.
+
         """
         self.hydrophone3_data = msg.data
 
@@ -161,6 +164,7 @@ def hydrophone4_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing hydrophone4 data.
+
         """
         self.hydrophone4_data = msg.data
 
@@ -169,6 +173,7 @@ def hydrophone5_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing hydrophone5 data.
+
         """
         self.hydrophone5_data = msg.data
 
@@ -177,6 +182,7 @@ def filter_response_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing filter response data.
+
         """
         self.filter_response_data = msg.data
 
@@ -185,6 +191,7 @@ def fft_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing FFT data.
+
         """
         self.fft_data = msg.data
 
@@ -193,6 +200,7 @@ def peaks_callback(self, msg: Int32MultiArray) -> None:
 
         Args:
             msg (Int32MultiArray): Message containing peaks data.
+
         """
         self.peaks_data = msg.data
 
@@ -201,6 +209,7 @@ def tdoa_callback(self, msg: Float32MultiArray) -> None:
 
         Args:
             msg (Float32MultiArray): Message containing TDOA data.
+
         """
         self.tdoa_data = msg.data
 
@@ -209,6 +218,7 @@ def position_callback(self, msg: Float32MultiArray) -> None:
 
         Args:
             msg (Float32MultiArray): Message containing position data.
+
         """
         self.position_data = msg.data
 
@@ -244,6 +254,7 @@ def main() -> None:
 
     Returns:
         None
+
     """
     # Initialize ROS2
     rclpy.init()

acoustics/acoustics_data_record/launch/acoustics_data_record_launch.py

@@ -16,6 +16,7 @@ def generate_launch_description() -> LaunchDescription:
     Returns:
         LaunchDescription: A launch description containing the node configuration
         for acoustics_data_record.
+
     """
     # Path to the YAML file
     yaml_file_path = os.path.join(

acoustics/acoustics_data_record/utilities/display_acoustics_data_live.py

@@ -68,43 +68,25 @@
 ACOUSTICS_CSV_FILE_DIR = PACKAGE_DIR + "/acoustics_data"
 
 # List of all the acoustic files
-acoustics_csv_files = csv_files = glob.glob(
+acoustics_csv_file = csv_files = glob.glob(
     ACOUSTICS_CSV_FILE_DIR + "/acoustics_data_" + "*.csv"
 )
 
 # Get the latest csv file name for acoustics data
-acoustics_csv_file = max(acoustics_csv_files, key=os.path.getctime)
+acoustics_csv_file = max(acoustics_csv_file, key=os.path.getctime)
 
 
 def convert_pandas_object_to_int_array(pandas_object: pd.Series) -> list:
-    """Convert a pandas object containing a string representation of an integer array to a list of integers.
-
-    Args:
-        pandas_object (pandas.Series): A pandas Series object containing a string representation of an integer array.
-
-    Returns:
-        list: A list of integers extracted from the pandas object.
-    """
-    pandas_string = pandas_object.iloc[0].replace("array('i', ", "").replace(")", "")
+    pandas_string = pandas_object.iloc[0].removeprefix("array('i', ").removesuffix(")")
     pandas_int_array = [int(x.strip()) for x in pandas_string.strip("[]").split(",")]
-
     return pandas_int_array
 
 
 def convert_pandas_object_to_float_array(pandas_object: pd.Series) -> list:
-    """Convert a pandas object containing a string representation of a float array to a list of floats.
-
-    Args:
-        pandas_object (pandas.Series): A pandas Series object containing a string representation of a float array.
-
-    Returns:
-        list: A list of floats extracted from the pandas object.
-    """
-    pandas_string = pandas_object.iloc[0].replace("array('f', ", "").replace(")", "")
+    pandas_string = pandas_object.iloc[0].removeprefix("array('f', ").removesuffix(")")
     pandas_float_array = [
         float(x.strip()) for x in pandas_string.strip("[]").split(",")
     ]
-
     return pandas_float_array
 
 
@@ -133,6 +115,7 @@ def get_acoustics_data() -> list:
 
     Raises:
         Exception: If there is an error reading the acoustics data or processing the DSP data.
+
     """
     # Variables that will be filled with latest acoustics data ----------
     hydrophone1 = [0] * HYDROPHONE_DATA_SIZE
@@ -265,6 +248,7 @@ def display_live_data() -> None:
     Note:
         This function assumes that `getAcousticsData`, `hydrophoneAxis`, `filterAxis`, `FFTAxis`,
         `colorSoftBlue`, `colorSoftGreen`, and `colorSoftPurple` are defined elsewhere in the code.
+
     """
     # Get latest acoustics data
     acoustics_data = get_acoustics_data()

acoustics/acoustics_interface/acoustics_interface/acoustics_interface_lib.py

@@ -5,14 +5,13 @@
 
 
 class TeensyCommunicationUDP:
-    """This class is responsible for the RPI side of teensy-RPI UDP communication.
-
-    It is implemented with a singleton pattern for convenience.
+    """Class is responsible for the RPI side of teensy-RPI UDP communication.
 
+    It isimplemented with a singleton pattern for convenience.
     Note: Private members are denoted by _member_name
 
     Attributes:
-    -----------
+    ----------
         _TEENSY_IP (string): self-explanatory
         _TEENSY_PORT (int): teensy's data port
         _MY_PORT (int): the device's data port
@@ -25,7 +24,7 @@ class TeensyCommunicationUDP:
         acoustics_data (dict[str, list[int]]): container for data from teensy
 
     Methods:
-    --------
+    -------
         init_communication(frequenciesOfInterest: list[tuple[int, int]]) -> None:
             Sets up socket for communication with teensy and waits for handshake
         fetch_data() -> None:
@@ -75,11 +74,6 @@ class TeensyCommunicationUDP:
 
     @classmethod
     def init_communication(cls, frequencies_of_interest: list[tuple[int, int]]) -> None:
-        """Sets up communication with teensy.
-
-        Parameters:
-            frequenciesOfInterest (list[tuple[int, int]]): List of frequencies to look for
-        """
         assert (
             len(frequencies_of_interest) == 10
         ), "Frequency list has to have exactly 10 entries"
@@ -157,6 +151,7 @@ def _get_raw_data(cls) -> str | None:
 
         Returns:
             The message in the UDP buffer if there is one
+
         """
         try:
             rec_data, _ = cls._client_socket.recvfrom(cls._MAX_PACKAGE_SIZE_RECEIVED)
@@ -170,14 +165,6 @@ def _get_raw_data(cls) -> str | None:
 
     @classmethod
     def _parse_data_string(cls, is_float: bool) -> list[float] | list[int] | None:
-        """Converts _data_string to a list.
-
-        Parameters:
-            is_float (bool): whether _data_string should be seen as a list of floats or ints
-
-        Returns:
-            The converted list
-        """
         if cls._data_string == "":
             return
 
@@ -254,11 +241,6 @@ def _check_if_available(cls) -> None:
     def _send_frequencies_of_interest(
         cls, frequencies_of_interest: list[tuple[float, float]]
     ) -> None:
-        """Sends the list of frequencies with variance to teensy.
-
-        Parameters:
-            frequenciesOfInterest (list[tuple[float, float]]): The list of frequencies w/ variance
-        """
         try:
             # Format (CSV): xxx,x,xx,x...,x (frequency list comes first, then variances)
             assert (

acoustics/acoustics_interface/acoustics_interface/acoustics_interface_node.py

@@ -16,6 +16,7 @@ class AcousticsInterfaceNode(Node):
             calls fetch_data() from acoustics_interface
         data_publisher(self) -> None:
             publishes data to ROS2 topics
+
     """
 
     def __init__(self) -> None:
@@ -154,6 +155,7 @@ def main(args: list = None) -> None:
 
     Args:
         args (list, optional): Command line arguments passed to the ROS 2 client library. Defaults to None.
+
     """
     rclpy.init(args=args)
 

acoustics/acoustics_interface/launch/acoustics_interface_launch.py

@@ -16,6 +16,7 @@ def generate_launch_description() -> LaunchDescription:
     Returns:
         LaunchDescription: A launch description object that includes the
         acoustics_interface node with the specified parameters.
+
     """
     # Path to the YAML file
     yaml_file_path = os.path.join(

auv_setup/launch/orca.launch.py

@@ -17,6 +17,7 @@ def generate_launch_description() -> LaunchDescription:
         LaunchDescription: A launch description containing the environment variable
         setting and the included launch descriptions for the thruster allocator and
         thruster interface.
+
     """
     # Set environment variable
     set_env_var = SetEnvironmentVariable(

auv_setup/launch/topside.launch.py

@@ -17,6 +17,7 @@ def generate_launch_description() -> LaunchDescription:
     Returns:
         LaunchDescription: The launch description containing the environment
         variable setting, joystick node, and joystick interface launch.
+
     """
     # Set environment variable
     set_env_var = SetEnvironmentVariable(

mission/LCD/sources/ip_lib.py

@@ -13,6 +13,7 @@ def get_ip(self) -> str:
 
         Returns:
             str: The IP address as a string.
+
         """
         try:
             # Run the command without shell=True

mission/LCD/sources/lcd.py

@@ -29,6 +29,7 @@ def format_line(value: str, unit: str) -> str:
 
     Returns:
         str: A formatted string that fits within a 16-character limit, with the unit appended.
+
     """
     spaces_available = 16
     value_length = len(value)

mission/LCD/sources/lcd_lib.py

@@ -35,6 +35,7 @@ def write_to_screen(self, line1: str = "", line2: str = "") -> None:
                  Defaults to an empty string.
             line2 (str): The text to display on the second line of the LCD screen.
                  Defaults to an empty string.
+
         """
         self._lcd.clear()
 
@@ -62,6 +63,7 @@ def fancy_animation(self, animation_speed: float = 0.4) -> None:
             - Ghost
 
         The animation is displayed in two rows of the LCD screen.
+
         """
         # Calculate the appropriate animation speed
         animation_speed = 1 / animation_speed

mission/LCD/sources/power_sense_module_lib.py

@@ -47,6 +47,7 @@ def get_voltage(self) -> float:
 
         Returns:
             float: The system voltage if successfully read and converted, otherwise 0.0.
+
         """
         # Sometimes an I/O timeout or error happens, it will run again when the error disappears
         try:
@@ -66,6 +67,7 @@ def get_current(self) -> float:
 
         Raises:
             Exception: If there is an error in reading or converting the current.
+
         """
         try:
             system_current = (

mission/LCD/sources/pressure_sensor_lib.py

@@ -34,6 +34,7 @@ def get_pressure(self) -> float:
 
         Returns:
             float: The current pressure value. Returns 0.0 if an error occurs.
+
         """
         try:
             pressure = self.channel_pressure.pressure

mission/LCD/sources/temperature_sensor_lib.py

@@ -1,9 +1,9 @@
 #!/usr/bin/python3
-"""! NOTE.
+"""NOTE: Internal temperature measurement approach.
 
-! For now we don't have a external sensor to measure internal temperature
-! Instead we just use Internal Computer temperature sensor to gaugue temperature of the environment approximately
-! In the future someone should implement a external temperature sensor for measuting a more accurate state of the temperatuer on the inside of the AUV.
+For now, we don't have an external sensor to measure the internal temperature.
+Instead, we use the internal computer's temperature sensor to approximate the environmental temperature.
+Future improvement: Implement an external temperature sensor for a more accurate measurement of the internal temperature of the AUV.
 """
 
 # Python Libraries
@@ -23,6 +23,7 @@ def get_temperature(self) -> float:
 
         Raises:
             Exception: If there is an error reading the temperature sensor file.
+
         """
         try:
             # Read internal temperature on the computer