pyproject: format code with ruff

Upstream MicroPython switched from black to ruff, so we are following
suit. This now includes all non-3rd-party .py files so quite a few files
are reformatted that weren't being checked before.

Author: dlech

.github/build-each-commit.py

@@ -57,7 +57,15 @@
 
     # update only required submodules
     pybricks.git.submodule("update", "--init", "micropython")
-    if args.hub in ["cityhub", "movehub", "technichub", "primehub", "essentialhub", "nxt", "ev3"]:
+    if args.hub in [
+        "cityhub",
+        "movehub",
+        "technichub",
+        "primehub",
+        "essentialhub",
+        "nxt",
+        "ev3",
+    ]:
         pybricks.submodule("micropython").module().git.submodule(
             "update", "--init", "lib/micropython-lib"
         )
@@ -66,7 +74,9 @@
         )
     if args.hub == "primehub" or args.hub == "essentialhub":
         pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-        pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+        pybricks.git.submodule(
+            "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+        )
 
     # build the firmware
     subprocess.check_call(

.github/build-missing-commits.py

@@ -97,7 +97,9 @@
         "update", "--init", "lib/stm32lib"
     )
     pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-    pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+    pybricks.git.submodule(
+        "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+    )
 
     # Make mpy-cross once
     print("Building mpy-cross")

.github/download-commit-metadata.py

@@ -65,7 +65,9 @@ def main():
     )
     sizes = {
         item["RowKey"]: {
-            k: v.value if isinstance(v, EntityProperty) else v for k, v in item.items() if k in HUBS
+            k: v.value if isinstance(v, EntityProperty) else v
+            for k, v in item.items()
+            if k in HUBS
         }
         for item in firmware_size_table.query_entities(
             "PartitionKey eq 'size'",

bricks/ev3/make_bootable_image.py

@@ -19,7 +19,6 @@
 
 
 def make_firmware(uboot_blob, uimage_blob):
-
     if len(uboot_blob) > UBOOT_MAX_SIZE:
         print("u-boot file is bigger than expected. Using only the first 256KiB.")
         uboot_blob = uboot_blob[:UBOOT_MAX_SIZE]
@@ -30,7 +29,9 @@ def make_firmware(uboot_blob, uimage_blob):
     # Gets combined size, rounded to nearest expected size.
     combined_size = UIMAGE_OFFSET + len(uimage_blob)
     combined_size = (
-        (combined_size + FIRMWARE_ROUND_SIZE) // FIRMWARE_ROUND_SIZE * FIRMWARE_ROUND_SIZE
+        (combined_size + FIRMWARE_ROUND_SIZE)
+        // FIRMWARE_ROUND_SIZE
+        * FIRMWARE_ROUND_SIZE
     )
 
     # Put it all together.
@@ -51,9 +52,11 @@ def make_firmware(uboot_blob, uimage_blob):
     parser.add_argument("output", help="The output file")
     args = parser.parse_args()
 
-    with open(args.uboot, "rb") as uboot_file, open(args.uimage, "rb") as uimage_file, open(
-        args.output, "wb"
-    ) as output_file:
+    with (
+        open(args.uboot, "rb") as uboot_file,
+        open(args.uimage, "rb") as uimage_file,
+        open(args.output, "wb") as output_file,
+    ):
         combined = make_firmware(uboot_file.read(), uimage_file.read())
         output_file.write(combined)
         print(f"Created {args.output} with size {len(combined) // 1024} KB.")

bricks/primehub/modules/_imu_calibrate.py

@@ -36,21 +36,21 @@ def wait_for_stationary(side):
 
 
 def roll_over_axis(axis, new_side):
-
     global bias, bias_count
 
     print("Roll it towards you, without lifting the hub up!")
 
     angle_start = hub.imu.rotation(axis, calibrated=False)
     while hub.imu.up(calibrated=False) != new_side or not hub.imu.stationary():
-
         _, _, z = hub.imu.orientation() * axis
         if abs(z) > 0.07:
             print(hub.imu.orientation() * axis)
             raise RuntimeError("Lifted it!")
         wait(100)
 
-    uncalibrated_90_deg_rotation = abs(hub.imu.rotation(axis, calibrated=False) - angle_start)
+    uncalibrated_90_deg_rotation = abs(
+        hub.imu.rotation(axis, calibrated=False) - angle_start
+    )
     if abs(uncalibrated_90_deg_rotation - 90) > 10:
         raise RuntimeError("Not 90 deg!")
 

lib/pbio/cpython/pbio_virtual/physics/simulation.py

@@ -51,7 +51,9 @@ def actuate(self, t, u):
             u (array): Control signal vector.
         """
         self.input_times = concatenate((self.input_times, array([t])))
-        self.input_values = concatenate((self.input_values, u.reshape(self.m, 1)), axis=1)
+        self.input_values = concatenate(
+            (self.input_values, u.reshape(self.m, 1)), axis=1
+        )
 
     def simulate(self, time_end):
         """Simulates the system until time_end, subject to the ongoing input.
@@ -84,7 +86,6 @@ def simulate(self, time_end):
 
         # Evaluate RK4 integration for all time steps
         for i, t in enumerate(times):
-
             # Save the state and output
             states[:, i] = state
             outputs[:, i] = self.output(t, state)
@@ -144,13 +145,14 @@ def get_output_at_time(self, time, tolerance):
         """
         # If time is in the past, interpolate from available results.
         if time < self.times[-1]:
-
             # Find first index larger than given time, which always exists.
             i = next(i for i, t in enumerate(self.times) if t > time)
 
             # Interpolate output in time
             ratio = (time - self.times[i - 1]) / (self.times[i] - self.times[i - 1])
-            return self.outputs[:, i - 1] + ratio * (self.outputs[:, i] - self.outputs[:, i - 1])
+            return self.outputs[:, i - 1] + ratio * (
+                self.outputs[:, i] - self.outputs[:, i - 1]
+            )
 
         # Return latest available data.
         return self.outputs[:, -1]

lib/pbio/cpython/pbio_virtual/platform/robot.py

@@ -116,7 +116,6 @@ def millidegrees_abs(self):
 
 
 class Platform:
-
     # Ports and attached devices.
     PORTS = {
         PortId.A: IODeviceTypeId.TECHNIC_L_ANGULAR_MOTOR,
@@ -132,7 +131,6 @@ def on_poll(self, *args):
         self.clock[-1].tick()
 
     def __init__(self):
-
         # Initialize devices internal to the hub.
         self.battery = {-1: VirtualBattery()}
         self.button = {-1: VirtualButtons()}
@@ -157,7 +155,6 @@ def __init__(self):
             # Initialize motor simulation model.
             self.sim_motor[i] = None
             if type_id != IODeviceTypeId.NONE:
-
                 # Get current time.
                 initial_time = self.clock[-1].microseconds / 1000000
 

lib/pbio/cpython/pbio_virtual/platform/turtle.py

@@ -175,7 +175,10 @@ def _apply_state(self) -> None:
 
     def _calc_new_output(self, new_timestamp: int) -> Tuple(int, int):
         delta = new_timestamp - self._state.timestamp
-        new_count = self._state.count + self._state.duty_cycle * delta * self.MAX_SPEED / 1000000
+        new_count = (
+            self._state.count
+            + self._state.duty_cycle * delta * self.MAX_SPEED / 1000000
+        )
         new_rate = self._state.duty_cycle * self.MAX_SPEED
 
         return new_count, new_rate

lib/pbio/doc/control/motor_model.py

@@ -151,7 +151,9 @@ def make_model(name, *, V, tau_0, tau_x, w_0, w_x, i_0, i_x, a, Lm, h):
     model[L] = Lm
 
     # Substitute parameters into model to get numeric system matrices
-    exponent_numeric = numpy.array(exponent.subs(model).evalf().tolist()).astype(numpy.float64)
+    exponent_numeric = numpy.array(exponent.subs(model).evalf().tolist()).astype(
+        numpy.float64
+    )
 
     # Get matrix exponential and system matrices
     exponential = scipy.linalg.expm(exponent_numeric * h)
@@ -196,7 +198,6 @@ def make_model(name, *, V, tau_0, tau_x, w_0, w_x, i_0, i_x, a, Lm, h):
 
 
 if __name__ == "__main__":
-
     print(HEADER)
 
     print(

lib/pbio/test/animator/data_parser.py

@@ -37,13 +37,11 @@
 
 # Write the CSS component with frames.
 with open("../results/frames.css", "w") as frame_file:
-
     for info in FRAME_INFO:
-
         # CSS rows for each frame.
         frames = "".join(
             [
-                f"{i * 100 // (len(angles) - 1)}% {{transform: translate({info.x}px, {info.y}px) rotate( {int(row[info.index])// info.gearing}deg );}}\n"
+                f"{i * 100 // (len(angles) - 1)}% {{transform: translate({info.x}px, {info.y}px) rotate( {int(row[info.index]) // info.gearing}deg );}}\n"
                 for i, row in enumerate(angles)
             ]
         )