Start fixing up python linter errors, code formatting, replace % stri…

…ngs with f'' strings.

clearpath_config/clearpath_config.py

@@ -27,27 +27,27 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.config import BaseConfig
 from clearpath_config.common.utils.yaml import read_yaml, write_yaml
-from clearpath_config.system.system import SystemConfig
-from clearpath_config.platform.platform import PlatformConfig
 from clearpath_config.links.links import LinksConfig
 from clearpath_config.manipulators.manipulators import ManipulatorConfig
 from clearpath_config.mounts.mounts import MountsConfig
+from clearpath_config.platform.platform import PlatformConfig
 from clearpath_config.sensors.sensors import SensorConfig
+from clearpath_config.system.system import SystemConfig
 
 
 # ClearpathConfig:
 #  - top level configurator
 #  - contains
 class ClearpathConfig(BaseConfig):
 
-    VERSION = "version"
-    SERIAL_NUMBER = "serial_number"
-    SYSTEM = "system"
-    PLATFORM = "platform"
-    LINKS = "links"
-    MANIPULATORS = "manipulators"
-    MOUNTS = "mounts"
-    SENSORS = "sensors"
+    VERSION = 'version'
+    SERIAL_NUMBER = 'serial_number'
+    SYSTEM = 'system'
+    PLATFORM = 'platform'
+    LINKS = 'links'
+    MANIPULATORS = 'manipulators'
+    MOUNTS = 'mounts'
+    SENSORS = 'sensors'
 
     TEMPLATE = {
         SERIAL_NUMBER: SERIAL_NUMBER,
@@ -63,7 +63,7 @@ class ClearpathConfig(BaseConfig):
     KEYS = TEMPLATE
 
     DEFAULTS = {
-        SERIAL_NUMBER: "generic",
+        SERIAL_NUMBER: 'generic',
         VERSION: 0,
         SYSTEM: SystemConfig.DEFAULTS,
         PLATFORM: PlatformConfig.DEFAULTS,
@@ -136,9 +136,7 @@ def version(self) -> int:
 
     @version.setter
     def version(self, v: int) -> None:
-        assert isinstance(v, int), (
-            "version must be of type 'int'"
-        )
+        assert isinstance(v, int), 'version must be of type "int"'
         self._version = v
         # Add propagators here
 

clearpath_config/common/types/accessory.py

@@ -93,7 +93,7 @@ def get_xyz(self) -> List[float]:
     def set_xyz(self, xyz: List[float]) -> None:
         self.assert_valid_triplet(
             xyz,
-            "XYZ must be a list of exactly three float values"
+            'XYZ must be a list of exactly three float values'
         )
         self.xyz = xyz
 
@@ -103,27 +103,25 @@ def get_rpy(self) -> List[float]:
     def set_rpy(self, rpy: List[float]) -> None:
         self.assert_valid_triplet(
             rpy,
-            "RPY must be a list of exactly three float values"
+            'RPY must be a list of exactly three float values'
         )
         self.rpy = rpy
 
     @staticmethod
     def assert_valid_link(link: str) -> None:
         # Link name must be a string
-        assert isinstance(link, str), "Link name '%s' must be string" % link
+        assert isinstance(link, str), f'Link name "{link}" must be string'
         # Link name must not be empty
-        assert link, "Link name '%s' must not be empty" % link
+        assert link, f'Link name "{link}" must not be empty'
         # Link name must not have spaces
-        assert " " not in link, "Link name '%s' must no have spaces" % link
+        assert ' ' not in link, f'Link name "{link}" must no have spaces'
         # Link name must not start with a digit
-        assert not link[0].isdigit(), (
-            "Link name '%s' must not start with a digit" % link
-        )
+        assert not link[0].isdigit(), f'Link name "{link} must not start with a digit'
 
     @staticmethod
     def assert_valid_triplet(tri: List[float], msg: str = None) -> None:
         if msg is None:
-            msg = "Triplet must be a list of three float values"
+            msg = 'Triplet must be a list of three float values'
         # Triplet must be a list
         assert isinstance(tri, list), msg
         # Triplet must have a length of 3
@@ -138,7 +136,7 @@ def assert_is_supported():
 
         When disabling an accessory, raise a
         clearpath_config.common.types.exception.UnsupportedAccessoryException
-        with a suitable mesage (e.g. "SpamEggs driver is not yet released for ROS 2 Jazzy")
+        with a suitable mesage (e.g. 'SpamEggs driver is not yet released for ROS 2 Jazzy')
 
         @return None
 
@@ -194,12 +192,12 @@ def __init__(
 
     @classmethod
     def get_name_from_idx(idx):
-        return "accessory_%s" % idx
+        return 'accessory_%s' % idx
 
     def get_idx(self) -> str:
         return self.idx
 
     def set_idx(self, idx: int) -> None:
-        assert isinstance(idx, int), "Index must be an integer"
-        assert idx >= 0, "Index must be a positive integer"
+        assert isinstance(idx, int), 'Index must be an integer'
+        assert idx >= 0, 'Index must be a positive integer'
         self.name = self.get_name_from_idx(idx)

clearpath_config/common/types/config.py

@@ -38,10 +38,10 @@
 
 
 class BaseConfig:
-    _SERIAL_NUMBER = SerialNumber("generic")
+    _SERIAL_NUMBER = SerialNumber('generic')
     _NAMESPACE = Namespace()
     _VERSION = 0
-    DLIM = "."
+    DLIM = '.'
 
     def __init__(
             self,
@@ -71,14 +71,12 @@ def template(self) -> dict:
 
     @template.setter
     def template(self, value: dict) -> None:
-        assert isinstance(value, dict), (
-            "template must of type 'dict'"
-        )
+        assert isinstance(value, dict), 'template must be of type "dict"'
         # Check that template has all properties
         flat_template = flatten_dict(d=value, dlim=BaseConfig.DLIM)
         for _, val in flat_template.items():
             assert isinstance(val, property), (
-                "All entries in template must be properties"
+                'All entries in template must be properties'
             )
         self._template = value
 
@@ -94,9 +92,7 @@ def config(self) -> dict:
     def config(self, value: dict) -> None:
         if value is None:
             return
-        assert isinstance(value, dict), (
-            "config must be of type 'dict'"
-        )
+        assert isinstance(value, dict), 'config must be of type "dict"'
         if self._parent_key is not None and self._parent_key not in value:
             value = {self._parent_key: value}
         value = unflatten_dict(value)
@@ -143,6 +139,4 @@ def set_namespace(cls, namespace: str | Namespace) -> None:
         elif isinstance(namespace, str):
             BaseConfig._NAMESPACE = Namespace(namespace)
         else:
-            assert isinstance(namespace, str) or isinstance(namespace, Namespace), (
-                "Namespace must be of type 'str' or 'Namespace'"
-            )
+            assert isinstance(namespace, str) or isinstance(namespace, Namespace), 'Namespace must be of type "str" or "Namespace"'  # noqa:E501

clearpath_config/common/types/discovery.py

@@ -27,8 +27,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 class Discovery:
-    SIMPLE = "simple"
-    SERVER = "server"
+    SIMPLE = 'simple'
+    SERVER = 'server'
 
     # All supported discovery modes, currently only set up for FastDDS
     ALL_SUPPORTED = [SIMPLE, SERVER]
@@ -60,7 +60,7 @@ def is_valid(cls, mode: str) -> bool:
 
     @classmethod
     def assert_valid(cls, mode: str) -> None:
-        assert cls.is_valid(mode), ("\n".join[
-            f"Discovery mode '{mode}' not supported."
-            f"Discovery mode must be one of: '{cls.ALL_SUPPORTED}'"
+        assert cls.is_valid(mode), ('\n'.join[
+            f'Discovery mode '{mode}' not supported.'
+            f'Discovery mode must be one of: '{cls.ALL_SUPPORTED}''
         ])

clearpath_config/common/types/domain_id.py

@@ -47,10 +47,10 @@ def is_valid(id: int) -> bool:
     def assert_valid(id: int) -> None:
         # Check Type
         assert isinstance(id, int), (
-            "Domain ID must be an integer"
+            'Domain ID must be an integer'
         )
         # 0 - 101 Range
         assert 0 <= id <= 101, (
-            "Domain ID must be in range 0 - 101"
+            'Domain ID must be in range 0 - 101'
         )
         return

clearpath_config/common/types/file.py

@@ -52,7 +52,7 @@ def __eq__(self, other: object) -> bool:
     @staticmethod
     def clean(path: str, make_abs=True) -> str:
         if not path:
-            return ""
+            return ''
         path = os.path.expanduser(path)
         path = os.path.normpath(path)
         if make_abs:

clearpath_config/common/types/hostname.py

@@ -32,7 +32,7 @@
 # Hostname
 # - hostname class
 class Hostname:
-    def __init__(self, hostname: str = "hostname") -> None:
+    def __init__(self, hostname: str = 'hostname') -> None:
         self.assert_valid(hostname)
         self.hostname = hostname
 
@@ -54,35 +54,35 @@ def is_valid(hostname: str) -> bool:
         # No Trailing Dots
         # - not exactly a standard, but generally results in undefined
         #       behaviour and should be avoided
-        if hostname[-1] == ".":
+        if hostname[-1] == '.':
             return False
         # Only [A-Z][0-9] and '-' Allowed
         # - cannot end or start with a hyphen ('-')
-        allowed = re.compile(r"(?!-)[A-Z\d-]{1,63}(?<!-)$", re.IGNORECASE)
-        return all(allowed.match(x) for x in hostname.split("."))
+        allowed = re.compile(r'(?!-)[A-Z\d-]{1,63}(?<!-)$', re.IGNORECASE)
+        return all(allowed.match(x) for x in hostname.split('.'))
 
     @staticmethod
     def assert_valid(hostname: str):
         assert isinstance(hostname, str), (
-            "Hostname '%s' must be of type 'str'" % hostname
+            'Hostname '%s' must be of type 'str'' % hostname
         )
         # Min 1 ASCII Characters
         assert len(hostname) > 0, (
-            "Hostname '%s' is blank." % hostname
+            'Hostname '%s' is blank.' % hostname
         )
         # Max 253 ASCII Characters
         assert len(hostname) < 254, (
-            "Hostname '%s' exceeds 253 ASCII character limit." % hostname
+            'Hostname '%s' exceeds 253 ASCII character limit.' % hostname
         )
         # No Trailing Dots
-        assert hostname[-1] != ".", (
-            "Hostname '%s' should not end with a ('.') period." % hostname
+        assert hostname[-1] != '.', (
+            'Hostname '%s' should not end with a ('.') period.' % hostname
         )
         # Only [A-Z][0-9] and '-' Allowed
-        allowed = re.compile(r"(?!-)[A-Z\d-]{1,63}(?<!-)$", re.IGNORECASE)
-        assert all(allowed.match(x) for x in hostname.split(".")), (
-            "Hostname '%s' cannot contain characters other than %s." % (
+        allowed = re.compile(r'(?!-)[A-Z\d-]{1,63}(?<!-)$', re.IGNORECASE)
+        assert all(allowed.match(x) for x in hostname.split('.')), (
+            'Hostname '%s' cannot contain characters other than %s.' % (
                 hostname,
-                "[A-Z][0-9] and hypens ('-')"
+                '[A-Z][0-9] and hypens ('-')'
             )
         )

clearpath_config/common/types/ip.py

@@ -29,7 +29,7 @@
 # IP
 # - ip class
 class IP:
-    def __init__(self, ip: str = "0.0.0.0") -> None:
+    def __init__(self, ip: str = '0.0.0.0') -> None:
         self.assert_valid(ip)
         self.ip_str = ip
 
@@ -50,7 +50,7 @@ def is_valid(ip: str) -> bool:
         if not isinstance(ip, str):
             return False
         # Must have Four Fields Delimited by '.'
-        fields = ip.split(".")
+        fields = ip.split('.')
         if not len(fields) == 4:
             return False
         # All Fields must be Integers and 8 Bit Wide
@@ -65,17 +65,13 @@ def is_valid(ip: str) -> bool:
     @staticmethod
     def assert_valid(ip: str) -> None:
         # Must be String
-        assert isinstance(ip, str), (
-            "IP '%s' must be string" % ip)
+        assert isinstance(ip, str), f'IP "{ip}" must be of type "str"'
         # Must have Four Fields Delimited by '.'
-        fields = ip.split(".")
-        assert len(fields) == 4, (
-            "IP '%s' must have four entries" % ip)
+        fields = ip.split('.')
+        assert len(fields) == 4, f'IP "{ip}" must have 4 fields'
         for field in fields:
             # Fields Must be Integer
-            assert field.isdecimal(), (
-                "IP '%s' entries must be integers" % ip)
+            assert field.isdecimal(), f'IP "{ip}" fields must be integers'
             # Fields Must be 8-Bits Wide
             field_int = int(field)
-            assert 0 <= field_int < 256, (
-                "IP '%s' entries must in range 0 to 255" % ip)
+            assert 0 <= field_int < 256, f'IP "{ip} fields must be in range 0 to 255'

clearpath_config/common/types/list.py

@@ -35,8 +35,8 @@
 
 
 # ListConfigs: Generic Types
-T = TypeVar("T")
-U = TypeVar("U")
+T = TypeVar('T')
+U = TypeVar('U')
 
 
 # ListConfigs
@@ -72,7 +72,7 @@ def find(
         # Error
         else:
             raise AssertionError(
-                "Object must be of type %s or %s" % (
+                'Object must be of type %s or %s' % (
                     self.__type_T.__name__,
                     self.__type_U.__name__
                 )
@@ -87,12 +87,12 @@ def add(
             obj: T,
             ) -> None:
         assert isinstance(obj, self.__type_T), (
-            "Object must be of type %s" % (
+            'Object must be of type %s' % (
                 self.__type_T.__name__
             )
         )
         assert self.find(obj) is None, (
-            "Object with uid %s is not unique." % (
+            'Object with uid %s is not unique.' % (
                 self.__uid(obj)
             )
         )
@@ -103,10 +103,10 @@ def replace(
             obj: T,
             ) -> None:
         assert isinstance(obj, self.__type_T), (
-            "Object must be of type %s" % T
+            'Object must be of type %s' % T
         )
         assert self.find(obj) is not None, (
-            "Object with uid %s cannot be replaced. Does not exist." % (
+            'Object with uid %s cannot be replaced. Does not exist.' % (
                 self.__uid(obj)
             )
         )
@@ -201,7 +201,7 @@ def find(
             idx = obj
         else:
             raise AssertionError(
-                "Object must of type %s or %s" % (
+                'Object must of type %s or %s' % (
                     self.__type_T, int
                 )
             )
@@ -220,7 +220,7 @@ def add(
             obj: T
             ) -> None:
         assert isinstance(obj, self.__type_T), (
-            "Object must be of type %s" % T
+            'Object must be of type %s' % T
         )
         self.__list.append(obj)
         self.update()
@@ -231,7 +231,7 @@ def replace(
             ) -> None:
         idx = self.find(obj)
         assert idx is not None, (
-            "Object not found. Cannot be replaced"
+            'Object not found. Cannot be replaced'
         )
         self.__list[idx - self.start_idx] = obj
         self.update()