Running through black

Signed-off-by: Mike Stitt <[email protected]>

Author: MikeStitt

subprojects/robotpy-wpilib/wpilib/iterativerobotpy.py

@@ -1,22 +1,40 @@
 from enum import Enum
 
-from hal import report, tResourceType, tInstances, observeUserProgramDisabled, \
-    observeUserProgramTest, observeUserProgramAutonomous, \
-    observeUserProgramTeleop, simPeriodicBefore, simPeriodicAfter
+from hal import (
+    report,
+    tResourceType,
+    tInstances,
+    observeUserProgramDisabled,
+    observeUserProgramTest,
+    observeUserProgramAutonomous,
+    observeUserProgramTeleop,
+    simPeriodicBefore,
+    simPeriodicAfter,
+)
 from ntcore import NetworkTableInstance
-from wpilib import DriverStation, DSControlWord, Watchdog, LiveWindow, RobotBase, SmartDashboard, reportWarning
+from wpilib import (
+    DriverStation,
+    DSControlWord,
+    Watchdog,
+    LiveWindow,
+    RobotBase,
+    SmartDashboard,
+    reportWarning,
+)
 from wpilib.shuffleboard import Shuffleboard
 
 _kResourceType_SmartDashboard = tResourceType.kResourceType_SmartDashboard
 _kSmartDashboard_LiveWindow = tInstances.kSmartDashboard_LiveWindow
 
+
 class IterativeRobotMode(Enum):
     kNone = 0
     kDisabled = 1
     kAutonomous = 2
     kTeleop = 3
     kTest = 4
 
+
 class IterativeRobotPy(RobotBase):
 
     def __init__(self, period: float):
@@ -78,33 +96,33 @@ def autonomousPeriodic(self) -> None:
             print(f"Default autonomousPeriodic() method...Override me!")
             self._autonomousPeriodicHasRun = True
 
-    def teleopPeriodic(self)->None:
+    def teleopPeriodic(self) -> None:
         if not self._teleopPeriodicHasRun:
             print(f"Default teleopPeriodic() method...Override me!")
             self._teleopPeriodicHasRun = True
 
-    def testPeriodic(self)->None:
+    def testPeriodic(self) -> None:
         if not self._testPeriodicHasRun:
             print(f"Default testPeriodic() method...Override me!")
             self._teleopPeriodicHasRun = True
 
-    def disabledExit(self)->None:
+    def disabledExit(self) -> None:
         pass
 
-    def autonomousExit(self)->None:
+    def autonomousExit(self) -> None:
         pass
 
-    def teleopExit(self)->None:
+    def teleopExit(self) -> None:
         pass
 
-    def testExit(self)->None:
+    def testExit(self) -> None:
         pass
 
     # todo @Deprecated(forRemoval=true, since="2025")
-    def setNetworkTablesFlushEnabled(self, enabled: bool)->None:
+    def setNetworkTablesFlushEnabled(self, enabled: bool) -> None:
         self._ntFlushEnabled = enabled
 
-    def enableLiveWindowInTest(self, testLW: bool)->None:
+    def enableLiveWindowInTest(self, testLW: bool) -> None:
         if self.isTestEnabled():
             raise RuntimeError("Can't configure test mode while in test mode!")
         if not self._reportedLw and testLW:
@@ -118,7 +136,7 @@ def isLiveWindowEnabledInTest(self) -> bool:
     def getPeriod(self) -> float:
         return self._periodS
 
-    def loopFunc(self)->None:
+    def loopFunc(self) -> None:
         DriverStation.refreshData()
         self.watchdog.reset()
 
@@ -248,10 +266,8 @@ def loopFunc(self)->None:
         if self.watchdog.isExpired():
             self.printWatchdogEpochs()
 
-    def printLoopOverrunMessage(self)->None:
-        reportWarning(
-            f"Loop time of {self.watchdog.getTimeout()}s overrun", False
-        )
+    def printLoopOverrunMessage(self) -> None:
+        reportWarning(f"Loop time of {self.watchdog.getTimeout()}s overrun", False)
 
-    def printWatchdogEpochs(self)->None:
+    def printWatchdogEpochs(self) -> None:
         self.watchdog.printEpochs()

subprojects/robotpy-wpilib/wpilib/timedrobotpy.py

@@ -1,7 +1,16 @@
 from typing import Any, Callable, Iterable
 from heapq import heappush, heappop
-from hal import report, initializeNotifier, setNotifierName, observeUserProgramStarting, updateNotifierAlarm, \
-    waitForNotifierAlarm, stopNotifier, tResourceType, tInstances
+from hal import (
+    report,
+    initializeNotifier,
+    setNotifierName,
+    observeUserProgramStarting,
+    updateNotifierAlarm,
+    waitForNotifierAlarm,
+    stopNotifier,
+    tResourceType,
+    tInstances,
+)
 from wpilib import RobotController
 
 from .iterativerobotpy import IterativeRobotPy
@@ -10,27 +19,24 @@
 _kResourceType_Framework = tResourceType.kResourceType_Framework
 _kFramework_Timed = tInstances.kFramework_Timed
 
+
 class _Callback:
-    def __init__(self, func: Callable[[],None], periodUs: int, expirationUs: int):
+    def __init__(self, func: Callable[[], None], periodUs: int, expirationUs: int):
         self.func = func
         self._periodUs = periodUs
         self.expirationUs = expirationUs
 
     @classmethod
-    def makeCallBack(cls,
-                     func: Callable[[],None],
-                     startTimeUs: int,
-                     periodUs: int,
-                     offsetUs: int) -> "_Callback":
-
-        callback = _Callback(
-            func=func,
-            periodUs=periodUs,
-            expirationUs=startTimeUs
-        )
+    def makeCallBack(
+        cls, func: Callable[[], None], startTimeUs: int, periodUs: int, offsetUs: int
+    ) -> "_Callback":
+
+        callback = _Callback(func=func, periodUs=periodUs, expirationUs=startTimeUs)
 
         currentTimeUs = _getFPGATime()
-        callback.expirationUs = offsetUs + callback.calcFutureExpirationUs(currentTimeUs)
+        callback.expirationUs = offsetUs + callback.calcFutureExpirationUs(
+            currentTimeUs
+        )
         return callback
 
     def calcFutureExpirationUs(self, currentTimeUs: int) -> int:
@@ -40,8 +46,11 @@ def calcFutureExpirationUs(self, currentTimeUs: int) -> int:
         # callback wouldn't be running otherwise.
         # todo does this math work?
         # todo does the "// periodUs * periodUs" do the correct integer math?
-        return self.expirationUs + self._periodUs + \
-            ((currentTimeUs - self.expirationUs) // self._periodUs) * self._periodUs
+        return (
+            self.expirationUs
+            + self._periodUs
+            + ((currentTimeUs - self.expirationUs) // self._periodUs) * self._periodUs
+        )
 
     def setNextStartTimeUs(self, currentTimeUs: int) -> None:
         self.expirationUs = self.calcFutureExpirationUs(currentTimeUs)
@@ -63,7 +72,7 @@ def add(self, item: Any) -> None:
     def pop(self) -> Any:
         return heappop(self._data)
 
-    def peek(self) -> Any|None:
+    def peek(self) -> Any | None:
         if self._data:
             return self._data[0]
         else:
@@ -94,7 +103,9 @@ def __init__(self, period: float = 0.020):
 
         self._notifier, status = initializeNotifier()
         if status != 0:
-            raise RuntimeError(f"initializeNotifier() returned {self._notifier}, {status}")
+            raise RuntimeError(
+                f"initializeNotifier() returned {self._notifier}, {status}"
+            )
 
         status = setNotifierName(self._notifier, "TimedRobot")
         if status != 0:
@@ -126,7 +137,9 @@ def startCompetition(self) -> None:
 
             currentTimeUs, status = waitForNotifierAlarm(self._notifier)
             if status != 0:
-                raise RuntimeError(f"waitForNotifierAlarm() returned currentTimeUs={currentTimeUs} status={status}")
+                raise RuntimeError(
+                    f"waitForNotifierAlarm() returned currentTimeUs={currentTimeUs} status={status}"
+                )
 
             if currentTimeUs == 0:
                 # when HAL_StopNotifier(self.notifier) is called the above waitForNotifierAlarm
@@ -142,7 +155,9 @@ def startCompetition(self) -> None:
                 callback = self._callbacks.pop()
                 self._runCallbackAndReschedule(callback, currentTimeUs)
 
-    def _runCallbackAndReschedule(self, callback: Callable[[],None], currentTimeUs: int) -> None:
+    def _runCallbackAndReschedule(
+        self, callback: Callable[[], None], currentTimeUs: int
+    ) -> None:
         callback.func()
         callback.setNextStartTimeUs(currentTimeUs)
         self._callbacks.add(callback)
@@ -151,16 +166,16 @@ def endCompetition(self) -> None:
         stopNotifier(self._notifier)
 
     def getLoopStartTime(self) -> float:
-        return self.loopStartTimeUs/1e6  # units are seconds
-
-    def addPeriodic(self,
-                    callback: Callable[[],None],
-                    period: float, # units are seconds
-                    offset: float = 0.0 # units are seconds
-                    ) -> None:
+        return self.loopStartTimeUs / 1e6  # units are seconds
+
+    def addPeriodic(
+        self,
+        callback: Callable[[], None],
+        period: float,  # units are seconds
+        offset: float = 0.0,  # units are seconds
+    ) -> None:
         self._callbacks.add(
             _Callback.makeCallBack(
-                callback,
-                self._startTimeUs, int(period * 1e6), int(offset * 1e6)
+                callback, self._startTimeUs, int(period * 1e6), int(offset * 1e6)
             )
         )