are ya happy wpiformat. Just be happy.

Stop being 2017 dean.

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -5,10 +5,8 @@
 
 @dataclass
 class PNPResult:
-
     _NUM_BYTES_IN_FLOAT = 8
-    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT *
-                                                           3)
+    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT * 3)
 
     isPresent: bool = False
     best: Transform3d = field(default_factory=Transform3d)
@@ -29,7 +27,6 @@ def createFromPacket(self, packet: Packet) -> Packet:
 
 @dataclass
 class MultiTargetPNPResult:
-
     _MAX_IDS = 32
     # pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
     _PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
@@ -43,6 +40,6 @@ def createFromPacket(self, packet: Packet) -> Packet:
         self.fiducialIDsUsed = []
         for _ in range(MultiTargetPNPResult._MAX_IDS):
             fidId = packet.decode16()
-            if (fidId >= 0):
+            if fidId >= 0:
                 self.fiducialIDsUsed.append(fidId)
         return packet

photon-lib/py/photonlibpy/packet.py

@@ -4,20 +4,19 @@
 
 
 class Packet:
-
     def __init__(self, data: list[int]):
         """
-         * Constructs an empty packet.
-         *
-         * @param self.size The self.size of the packet buffer.
+        * Constructs an empty packet.
+        *
+        * @param self.size The self.size of the packet buffer.
         """
         self.packetData = data
         self.size = len(data)
         self.readPos = 0
         self.outOfBytes = False
 
     def clear(self):
-        """ Clears the packet and resets the read and write positions."""
+        """Clears the packet and resets the read and write positions."""
         self.packetData = [0] * self.size
         self.readPos = 0
         self.outOfBytes = False
@@ -34,9 +33,9 @@ def getSize(self):
     def _getNextByte(self) -> int:
         retVal = 0x00
 
-        if (not self.outOfBytes):
+        if not self.outOfBytes:
             try:
-                retVal = 0x00ff & self.packetData[self.readPos]
+                retVal = 0x00FF & self.packetData[self.readPos]
                 self.readPos += 1
             except IndexError:
                 wpilib.reportError(Packet._NO_MORE_BYTES_MESSAGE, True)
@@ -63,7 +62,6 @@ def setData(self, data: list[int]):
         self.size = len(self.packetData)
 
     def _decodeGeneric(self, unpackFormat, numBytes):
-
         # Read ints in from the data buffer
         intList = []
         for _ in range(numBytes):
@@ -112,7 +110,7 @@ def decodeBoolean(self) -> bool:
         *
         * @return A decoded boolean from the packet.
         """
-        return (self.decode8() == 1)
+        return self.decode8() == 1
 
     def decodeDoubleArray(self, length: int) -> list[float]:
         """

photon-lib/py/photonlibpy/photonCamera.py

@@ -13,42 +13,50 @@ class VisionLEDMode(Enum):
 
 
 class PhotonCamera:
-
     def __init__(self, cameraName: str):
         instance = ntcore.NetworkTableInstance.getDefault()
         self.name = cameraName
         photonvision_root_table = instance.getTable("photonvision")
         cameraTable = photonvision_root_table.getSubTable(cameraName)
         self.path = cameraTable.getPath()
-        self.rawBytesEntry = cameraTable.getRawTopic("rawBytes") \
-                        .subscribe("rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True))
+        self.rawBytesEntry = cameraTable.getRawTopic("rawBytes").subscribe(
+            "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
+        )
 
         self.driverModePublisher = cameraTable.getBooleanTopic(
-            "driverModeRequest").publish()
-        self.driverModeSubscriber = cameraTable.getBooleanTopic(
-            "driverMode").subscribe(False)
+            "driverModeRequest"
+        ).publish()
+        self.driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(
+            False
+        )
         self.inputSaveImgEntry = cameraTable.getIntegerTopic(
-            "inputSaveImgCmd").getEntry(0)
+            "inputSaveImgCmd"
+        ).getEntry(0)
         self.outputSaveImgEntry = cameraTable.getIntegerTopic(
-            "outputSaveImgCmd").getEntry(0)
+            "outputSaveImgCmd"
+        ).getEntry(0)
         self.pipelineIndexRequest = cameraTable.getIntegerTopic(
-            "pipelineIndexRequest").publish()
+            "pipelineIndexRequest"
+        ).publish()
         self.pipelineIndexState = cameraTable.getIntegerTopic(
-            "pipelineIndexState").subscribe(0)
-        self.heartbeatEntry = cameraTable.getIntegerTopic(
-            "heartbeat").subscribe(-1)
+            "pipelineIndexState"
+        ).subscribe(0)
+        self.heartbeatEntry = cameraTable.getIntegerTopic("heartbeat").subscribe(-1)
 
         self.ledModeRequest = photonvision_root_table.getIntegerTopic(
-            "ledModeRequest").publish()
+            "ledModeRequest"
+        ).publish()
         self.ledModeState = photonvision_root_table.getIntegerTopic(
-            "ledModeState").subscribe(-1)
-        self.versionEntry = photonvision_root_table.getStringTopic(
-            "version").subscribe("")
+            "ledModeState"
+        ).subscribe(-1)
+        self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
+            ""
+        )
 
         # Existing is enough to make this multisubscriber do its thing
-        self.topicNameSubscriber = \
-                ntcore.MultiSubscriber( \
-                        instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly =True))
+        self.topicNameSubscriber = ntcore.MultiSubscriber(
+            instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
+        )
 
         self.prevHeartbeat = 0
         self.prevHeartbeatChangeTime = Timer.getFPGATimestamp()
@@ -59,13 +67,14 @@ def getLatestResult(self) -> PhotonPipelineResult:
         byteList = packetWithTimestamp.value
         timestamp = packetWithTimestamp.time
 
-        if (len(byteList) < 1):
+        if len(byteList) < 1:
             return retVal
         else:
             retVal.populateFromPacket(Packet(byteList))
             # NT4 allows us to correct the timestamp based on when the message was sent
-            retVal.setTimestampSeconds(timestamp / 1e-6 -
-                                       retVal.getLatencyMillis() / 1e-3)
+            retVal.setTimestampSeconds(
+                timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3
+            )
             return retVal
 
     def getDriverMode(self) -> bool:
@@ -100,7 +109,7 @@ def isConnected(self) -> bool:
         curHeartbeat = self.heartbeatEntry.get()
         now = Timer.getFPGATimestamp()
 
-        if (curHeartbeat != self.prevHeartbeat):
+        if curHeartbeat != self.prevHeartbeat:
             self.prevHeartbeat = curHeartbeat
             self.prevHeartbeatChangeTime = now
 

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -10,8 +10,7 @@ class PhotonPipelineResult:
     latencyMillis: float = -1.0
     timestampSec: float = -1.0
     targets: list[PhotonTrackedTarget] = field(default_factory=list)
-    multiTagResult: MultiTargetPNPResult = field(
-        default_factory=MultiTargetPNPResult)
+    multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
 
     def populateFromPacket(self, packet: Packet) -> Packet:
         self.targets = []

photon-lib/py/photonlibpy/photonTrackedTarget.py

@@ -11,11 +11,9 @@ class TargetCorner:
 
 @dataclass
 class PhotonTrackedTarget:
-
     _MAX_CORNERS = 8
     _NUM_BYTES_IN_FLOAT = 8
-    _PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 +
-                                              2 * _MAX_CORNERS)
+    _PACK_SIZE_BYTES = _NUM_BYTES_IN_FLOAT * (5 + 7 + 2 * 4 + 1 + 7 + 2 * _MAX_CORNERS)
 
     yaw: float = 0.0
     pitch: float = 0.0
@@ -58,8 +56,7 @@ def getBestCameraToTarget(self) -> Transform3d:
     def getAlternateCameraToTarget(self) -> Transform3d:
         return self.altCameraToTarget
 
-    def _decodeTargetList(self, packet: Packet,
-                          numTargets: int) -> list[TargetCorner]:
+    def _decodeTargetList(self, packet: Packet, numTargets: int) -> list[TargetCorner]:
         retList = []
         for _ in range(numTargets):
             cx = packet.decodeDouble()
@@ -79,8 +76,7 @@ def createFromPacket(self, packet: Packet) -> Packet:
 
         self.poseAmbiguity = packet.decodeDouble()
 
-        self.minAreaRectCorners = self._decodeTargetList(packet,
-                                                         4)  # always four
+        self.minAreaRectCorners = self._decodeTargetList(packet, 4)  # always four
         numCorners = packet.decode8()
         self.detectedCorners = self._decodeTargetList(packet, numCorners)
         return packet

photon-lib/py/setup.py

@@ -1,11 +1,13 @@
 from setuptools import setup, find_packages
 import subprocess, re
 
-gitDescribeResult = subprocess.check_output(
-    ['git', 'describe', '--tags', "--match=v*",
-     "--always"]).decode('utf-8').strip()
+gitDescribeResult = (
+    subprocess.check_output(["git", "describe", "--tags", "--match=v*", "--always"])
+    .decode("utf-8")
+    .strip()
+)
 
-m = re.search(r'v[0-9]{4}\.[0-9]{1}.[0-9]{1}', gitDescribeResult)
+m = re.search(r"v[0-9]{4}\.[0-9]{1}.[0-9]{1}", gitDescribeResult)
 
 # Extract the first portion of the git describe result
 # which should be PEP440 compliant
@@ -24,7 +26,7 @@
 """
 
 setup(
-    name='photonlibpy',
+    name="photonlibpy",
     packages=find_packages(),
     version=versionString,
     install_requires=[

photon-lib/py/test/data.py

@@ -1,3 +1,4 @@
+# fmt: off
 rawBytes1 = [
     64, 166, 117, 41, 225, 243, 165, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 240, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

photon-lib/py/test/photonlibpy_test.py

@@ -12,35 +12,35 @@ def setupCommon(bytesIn):
     res = PhotonPipelineResult()
     packet = Packet(bytesIn)
     res.populateFromPacket(packet)
-    assert (packet.outOfBytes is False)
+    assert packet.outOfBytes is False
     return res
 
 
 def test_byteParse1():
     res = setupCommon(rawBytes1)
-    assert (len(res.getTargets()) == 0)
+    assert len(res.getTargets()) == 0
 
 
 def test_byteParse2():
     res = setupCommon(rawBytes2)
-    assert (len(res.getTargets()) == 0)
+    assert len(res.getTargets()) == 0
 
 
 def test_byteParse3():
     res = setupCommon(rawBytes3)
-    assert (len(res.getTargets()) == 0)
+    assert len(res.getTargets()) == 0
 
 
 def test_byteParse4():
     res = setupCommon(rawBytes4)
-    assert (len(res.getTargets()) == 1)
+    assert len(res.getTargets()) == 1
 
 
 def test_byteParse5():
     res = setupCommon(rawBytes5)
-    assert (len(res.getTargets()) == 1)
+    assert len(res.getTargets()) == 1
 
 
 def test_byteParse6():
     res = setupCommon(rawBytes6)
-    assert (len(res.getTargets()) > 6)
+    assert len(res.getTargets()) > 6