Update pre-commit dependencies to latest versions

.pre-commit-config.yaml

@@ -11,19 +11,19 @@ ci:
 
 repos:
   - repo: https://github.com/adrienverge/yamllint.git
-    rev: v1.30.0
+    rev: v1.31.0
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
     rev: 23.3.0
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.0
+    rev: v16.0.2
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
-    rev: v2.0.2
+    rev: v2.1.1
     hooks:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
@@ -40,7 +40,7 @@ repos:
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/charliermarsh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.0.260'
+    rev: 'v0.0.263'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]

NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py

@@ -54,7 +54,7 @@ def raised(self, alarm):
             rospy.logwarn("BAG_ALWAYS or BAG_KILL not set. Not making kill bag.")
         else:
             goal = BagOnlineGoal(bag_name="kill.bag")
-            goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["bag_kill"]
+            goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["BAG_KILL"]
             self.bag_client.send_goal(goal, done_cb=self._online_bagger_cb)
         self.task_client.run_mission("Killed", done_cb=self._kill_task_cb)
 

NaviGator/utils/voltage_gui/src/voltage_gui.py

@@ -11,15 +11,33 @@
 from roboteq_msgs.msg import Feedback
 from std_msgs.msg import Float32
 
-# Display voltage from battery_monitor and the four motors to a GUI
-
-
 __author__ = "Joseph Brooks"
 __email__ = "[email protected]"
 __license__ = "MIT"
 
 
 class voltageGUI(Plugin):
+    """
+    Display voltage from battery_monitor and the four motors to a GUI
+
+    Attributes:
+        height (int): defines the height of the screen
+        fontSize(int): sets the font size of the screen
+        warningCounter(int): prints the number of warning signs
+        paramCounter(int): the number of times "updateLabel" function is called
+        heightRatio(int): the ratio change in height that is caused by the resize
+        gotParams(bool): this checks to see whether the parameters are set
+        lowThreshold(int): colors values which include Good (Green), Warning (Yellow), and Critical (Red)
+        criticalThreshold(int): colors values which include Good (Green), Warning (Yellow), and Critical (Red)
+        paramCounter(int): number of parameters that are called by function
+
+        battery_voltage(int): the amount of voltage that is stored in the battery
+        voltageFL(int): the voltage that is being supplied from dataFL
+        voltageFR(int): the voltage that is being supplied from dataFR
+        voltageBL(int): the voltage that is being supplied from dataBL
+        voltageBR(int): the voltage that is being supplied from dataBR
+    """
+
     def __init__(self, context):
         super().__init__(context)
         self.setObjectName("voltage_gui")
@@ -33,8 +51,10 @@ def __init__(self, context):
         context.add_widget(self.myWidget)
         self.runGUI()
 
-    # Updates Values displayed in GUI every second
     def runGUI(self) -> None:
+        """
+        Updates Values displayed in GUI every second
+        """
         app = QApplication(sys.argv)
         self.myWidget.show()
         while 0 == 0:
@@ -57,12 +77,12 @@ def __init__(self):
         # Whenever the screen is resized the resizeFont function is called
         self.resized.connect(self.resizeFont)
 
-        self.height = VoltageWidget.frameGeometry(self).height()
+        self.height = VoltageWidget.frameGeometry(self).height()  # done
 
-        self.fontSize = 40
+        self.fontSize = 40  # done
 
-        self.warningCounter = 0
-        self.paramCounter = 0
+        self.warningCounter = 0  # done
+        self.paramCounter = 0  # done
 
         self.initThresh()
 
@@ -80,27 +100,67 @@ def __init__(self):
 
     # The functions that the subscribers call in order to get new data
     def updateMain(self, mainData: Float32) -> None:
+        """
+        It is one of the functions that the subscribers call in order to get new data.
+
+        Args:
+            mainData: it is a float value that is being passed in for a variable to be set to.
+        """
         self.battery_voltage = mainData
 
     def update_FL(self, dataFL: Feedback) -> None:
+        """
+        It is one of the functions that the subscribers call in order to get new data.
+
+        Args:
+            dataFL: it is a feedback value that is being passed in for a variable to be set to.
+        """
         self.voltageFL = dataFL.supply_voltage
 
     def update_FR(self, dataFR: Feedback) -> None:
+        """
+        It is one of the functions that the subscribers call in order to get new data.
+
+        Args:
+            dataFR: it is a feedback value that is being passed in for a variable to be set to.
+        """
         self.voltageFR = dataFR.supply_voltage
 
     def update_BL(self, dataBL: Feedback) -> None:
+        """
+        It is one of the functions that the subscribers call in order to get new data.
+
+        Args:
+            dataBL: it is a feedback value that is being passed in for a variable to be set to.
+        """
         self.voltageBL = dataBL.supply_voltage
 
     def update_BR(self, dataBR: Feedback) -> None:
+        """
+        It is one of the functions that the subscribers call in order to get new data.
+
+        Args:
+            dataBR: it is a feedback value that is being passed in for a variable to be set to.
+        """
         self.voltageBR = dataBR.supply_voltage
 
-    # Part of signal that notifies program whenever window is resized
-    def resizeEvent(self, event):
+    def resizeEvent(self, event):  # done
+        """
+        Part of signal that notifies program whenever window is resized
+
+        Args:
+            event: an event object is being passed in.
+
+        Returns:
+            An event was being returned with a different size.
+        """
         self.resized.emit()
         return super().resizeEvent(event)
 
-    # Increase/decrease size of fonts based on window resize
-    def resizeFont(self) -> None:
+    def resizeFont(self) -> None:  # done
+        """
+        Increase/decrease size of fonts based on window resize
+        """
         # gets new window dimensions, the self is needed because we are referencing
         # our VoltageWidget class
         height = VoltageWidget.frameGeometry(self).height()
@@ -126,6 +186,9 @@ def resizeFont(self) -> None:
 
     # Sets the text of the thrshold info box
     def initThresh(self) -> None:
+        """
+        Sets the text of the threshold info box
+        """
         # Low and Critical decide what colors the boxes take for
         # Good (Green), Warning (Yellow), and Critical (Red)
         # If the parameter server has not set these values then we use the DEFAULT
@@ -159,8 +222,10 @@ def initThresh(self) -> None:
         threshFont = QtGui.QFont("Times", (self.fontSize) / 3, QtGui.QFont.Bold)
         self.labelThresh.setFont(threshFont)
 
-    # If self.gotParams is False, the updateLabel function calls testParams every 5 seconds
-    def testParams(self) -> None:
+    def testParams(self) -> None:  # done
+        """
+        If self.gotParams is False, the updateLabel function calls testParams every 5 seconds
+        """
         try:
             self.lowThreshold = rospy.get_param("battery-voltage/low")
             self.criticalThreshold = rospy.get_param("battery-voltage/critical")
@@ -180,8 +245,13 @@ def testParams(self) -> None:
             )
         self.labelThresh.setText(threshText)
 
-    # sets colors of boxes based on current values of voltages for each box
-    def setColors(self, numMain: float) -> None:
+    def setColors(self, numMain: float) -> None:  # done
+        """
+        sets colors of boxes based on current values of voltages for each box
+
+        Args:
+            numMain(float): box object that stores current values
+        """
         if numMain > self.lowThreshold:
             self.labelMain.setStyleSheet(
                 "QLabel { background-color : green; color : white; }",
@@ -260,7 +330,9 @@ def setColors(self, numMain: float) -> None:
             )
 
     def updateLabel(self) -> None:
-        # Tries self.gotParams every 3 function calls
+        """
+        Tries self.gotParams every 3 function calls
+        """
         self.paramCounter = self.paramCounter + 1
         if self.gotParams is False and self.paramCounter >= 3:
             self.testParams()

SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py

@@ -117,7 +117,7 @@ def bagger_dump(self):
             rospy.logwarn("BAG_ALWAYS or BAG_KILL not set. Not making kill bag.")
             return
         goal = BagOnlineGoal(bag_name="kill.bag")
-        goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["bag_kill"]
+        goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["BAG_KILL"]
         self.bag_client.send_goal(goal, done_cb=self._bag_done_cb)
 
     def meta_predicate(self, meta_alarm, sub_alarms):
@@ -170,5 +170,5 @@ def meta_predicate(self, meta_alarm, sub_alarms):
 
         # Raised if any alarms besides the two above are raised
         return any(
-            [alarm.raised for name, alarm in sub_alarms.items() if name not in ignore],
+            alarm.raised for name, alarm in sub_alarms.items() if name not in ignore
         )

SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_2022.py

@@ -5,6 +5,7 @@
 from axros import Subscriber
 from mil_misc_tools import text_effects
 from sensor_msgs.msg import MagneticField
+from std_msgs.msg import Bool
 from tf.transformations import *
 
 from .sub_singleton import SubjuGatorMission
@@ -19,14 +20,12 @@
 DIST_AFTER_GATE = 1
 WAIT_SECONDS = 1
 
-RIGHT_OR_LEFT = 1
-
 
 class StartGate2022(SubjuGatorMission):
     async def current_angle(self):
         imu_sub: Subscriber[MagneticField] = self.nh.subscribe(
-            "/imu/mag",
-            MagneticField,
+            name="/imu/mag",
+            message_type=MagneticField,
         )
         async with imu_sub:
             reading = await imu_sub.get_next_message()
@@ -39,6 +38,15 @@ async def current_angle(self):
             + declination
         )
 
+    async def is_left(self):
+        side_sub: Subscriber[Bool] = self.nh.subscribe(
+            name="/getside",
+            message_type=Bool,
+        )
+        async with side_sub:
+            result = await side_sub.get_next_message()
+        return result.data
+
     async def run(self, args):
         fprint("Waiting for odom")
         await self.tx_pose()
@@ -63,5 +71,20 @@ async def run(self, args):
         down = self.move().down(1)
         await self.go(down, speed=SPEED)
 
-        forward = self.move().forward(4)
+        fprint("Waiting for side")
+        IS_LEFT = await self.is_left()
+
+        side = "left" if IS_LEFT else "right"
+
+        msg = "Found side: " + side
+        fprint(msg)
+
+        if IS_LEFT:
+            left = self.move().left(1)
+            await self.go(left, speed=SPEED)
+        else:
+            right = self.move().right(1)
+            await self.go(right, speed=SPEED)
+
+        forward = self.move().forward(5)
         await self.go(forward, speed=SPEED)

docs/extensions/attributetable.py

@@ -340,7 +340,7 @@ def process_cppattributetable(app, doctree: Node, fromdocname):
                     ],
                 )
 
-            elif all([c in node.attributes["classes"] for c in ["cpp", "function"]]):
+            elif all(c in node.attributes["classes"] for c in ["cpp", "function"]):
                 # Get the signature line of the function, where its name is stored
                 try:
                     descriptions = [

mil_common/gnc/rawgps_common/src/rawgps_common/gps.py

@@ -354,8 +354,7 @@ def predict_pos_deltat_r(self, t):
         assert abs(t_k) < week_length / 2
         if not (abs(t_k) < 6 * 60 * 60):
             print(
-                "ERROR: ephemeris predicting more than 6 hours from now (%f hours)"
-                % (t_k / 60 / 60,),
+                f"ERROR: ephemeris predicting more than 6 hours from now ({t_k / 60 / 60:f} hours)",
             )
         n = n_0 + self.Deltan
         M_k = self.M_0 + n * t_k

mil_common/ros_alarms/ros_alarms/handler_template.py

@@ -105,4 +105,4 @@ def meta_predicate(self, meta_alarm: Alarm, alarms) -> Union[bool, Alarm]:
             should be raised, or a new Alarm object which the calling alarm
             should update itself to.
         """
-        return any([alarm.raised for name, alarm in alarms.items()])
+        return any(alarm.raised for name, alarm in alarms.items())

scripts/install.sh

@@ -235,11 +235,15 @@ mil_user_install_dependencies() {
 		git \
 		tmux \
 		vim \
+		htop \
+		tmuxinator \
 		awscli \
 		net-tools \
 		cifs-utils \
 		nmap \
-		tmuxinator
+		fd-find \
+		ripgrep \
+		fzf
 }
 
 # Add line to user's bashrc which source the repo's setup files

scripts/setup.bash

@@ -84,6 +84,7 @@ alias search_root='sudo find / \
 		        -print | grep -i'
 
 alias search='find . -print | grep -i'
+alias fd="fdfind"
 
 # Gazebo aliases
 alias gazebogui="rosrun gazebo_ros gzclient __name:=gzclient"