diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..21c125c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,11 @@ +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +.py text eol=lf +.rst text eol=lf +.txt text eol=lf +.yaml text eol=lf +.toml text eol=lf +.license text eol=lf +.md text eol=lf diff --git a/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md b/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md index 71ef8f8..8de294e 100644 --- a/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md +++ b/.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md @@ -4,7 +4,7 @@ Thank you for contributing! Before you submit a pull request, please read the following. -Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://circuitpython.readthedocs.io/en/latest/docs/design_guide.html +Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://docs.circuitpython.org/en/latest/docs/design_guide.html If your changes are to documentation, please verify that the documentation builds locally by following the steps found here: https://adafru.it/build-docs diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f619953..041a337 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -10,61 +10,5 @@ jobs: test: runs-on: ubuntu-latest steps: - - name: Dump GitHub context - env: - GITHUB_CONTEXT: ${{ toJson(github) }} - run: echo "$GITHUB_CONTEXT" - - name: Translate Repo Name For Build Tools filename_prefix - id: repo-name - run: | - echo ::set-output name=repo-name::$( - echo ${{ github.repository }} | - awk -F '\/' '{ print tolower($2) }' | - tr '_' '-' - ) - - name: Set up Python 3.7 - uses: actions/setup-python@v1 - with: - python-version: 3.7 - - name: Versions - run: | - python3 --version - - name: Checkout Current Repo - uses: actions/checkout@v1 - with: - submodules: true - - name: Checkout tools repo - uses: actions/checkout@v2 - with: - repository: adafruit/actions-ci-circuitpython-libs - path: actions-ci - - name: Install dependencies - # (e.g. - apt-get: gettext, etc; pip: circuitpython-build-tools, requirements.txt; etc.) - run: | - source actions-ci/install.sh - - name: Pip install Sphinx, pre-commit - run: | - pip install --force-reinstall Sphinx sphinx-rtd-theme pre-commit - - name: Library version - run: git describe --dirty --always --tags - - name: Pre-commit hooks - run: | - pre-commit run --all-files - - name: Build assets - run: circuitpython-build-bundles --filename_prefix ${{ steps.repo-name.outputs.repo-name }} --library_location . - - name: Build docs - working-directory: docs - run: sphinx-build -E -W -b html . _build/html - - name: Check For setup.py - id: need-pypi - run: | - echo ::set-output name=setup-py::$( find . -wholename './setup.py' ) - - name: Build Python package - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - run: | - pip install --upgrade setuptools wheel twine readme_renderer testresources - python setup.py sdist - python setup.py bdist_wheel --universal - twine check dist/* - - name: Setup problem matchers - uses: adafruit/circuitpython-action-library-ci-problem-matchers@v1 + - name: Run Build CI workflow + uses: adafruit/workflows-circuitpython-libs/build@main diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml deleted file mode 100644 index 6d0015a..0000000 --- a/.github/workflows/release.yml +++ /dev/null @@ -1,85 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: MIT - -name: Release Actions - -on: - release: - types: [published] - -jobs: - upload-release-assets: - runs-on: ubuntu-latest - steps: - - name: Dump GitHub context - env: - GITHUB_CONTEXT: ${{ toJson(github) }} - run: echo "$GITHUB_CONTEXT" - - name: Translate Repo Name For Build Tools filename_prefix - id: repo-name - run: | - echo ::set-output name=repo-name::$( - echo ${{ github.repository }} | - awk -F '\/' '{ print tolower($2) }' | - tr '_' '-' - ) - - name: Set up Python 3.6 - uses: actions/setup-python@v1 - with: - python-version: 3.6 - - name: Versions - run: | - python3 --version - - name: Checkout Current Repo - uses: actions/checkout@v1 - with: - submodules: true - - name: Checkout tools repo - uses: actions/checkout@v2 - with: - repository: adafruit/actions-ci-circuitpython-libs - path: actions-ci - - name: Install deps - run: | - source actions-ci/install.sh - - name: Build assets - run: circuitpython-build-bundles --filename_prefix ${{ steps.repo-name.outputs.repo-name }} --library_location . - - name: Upload Release Assets - # the 'official' actions version does not yet support dynamically - # supplying asset names to upload. @csexton's version chosen based on - # discussion in the issue below, as its the simplest to implement and - # allows for selecting files with a pattern. - # https://github.com/actions/upload-release-asset/issues/4 - #uses: actions/upload-release-asset@v1.0.1 - uses: csexton/release-asset-action@master - with: - pattern: "bundles/*" - github-token: ${{ secrets.GITHUB_TOKEN }} - - upload-pypi: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v1 - - name: Check For setup.py - id: need-pypi - run: | - echo ::set-output name=setup-py::$( find . -wholename './setup.py' ) - - name: Set up Python - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - uses: actions/setup-python@v1 - with: - python-version: '3.x' - - name: Install dependencies - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - run: | - python -m pip install --upgrade pip - pip install setuptools wheel twine - - name: Build and publish - if: contains(steps.need-pypi.outputs.setup-py, 'setup.py') - env: - TWINE_USERNAME: ${{ secrets.pypi_username }} - TWINE_PASSWORD: ${{ secrets.pypi_password }} - run: | - python setup.py sdist - twine upload dist/* diff --git a/.github/workflows/release_gh.yml b/.github/workflows/release_gh.yml new file mode 100644 index 0000000..9acec60 --- /dev/null +++ b/.github/workflows/release_gh.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +name: GitHub Release Actions + +on: + release: + types: [published] + +jobs: + upload-release-assets: + runs-on: ubuntu-latest + steps: + - name: Run GitHub Release CI workflow + uses: adafruit/workflows-circuitpython-libs/release-gh@main + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + upload-url: ${{ github.event.release.upload_url }} diff --git a/.github/workflows/release_pypi.yml b/.github/workflows/release_pypi.yml new file mode 100644 index 0000000..65775b7 --- /dev/null +++ b/.github/workflows/release_pypi.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +name: PyPI Release Actions + +on: + release: + types: [published] + +jobs: + upload-release-assets: + runs-on: ubuntu-latest + steps: + - name: Run PyPI Release CI workflow + uses: adafruit/workflows-circuitpython-libs/release-pypi@main + with: + pypi-username: ${{ secrets.pypi_username }} + pypi-password: ${{ secrets.pypi_password }} diff --git a/.gitignore b/.gitignore index 9c621df..db3d538 100644 --- a/.gitignore +++ b/.gitignore @@ -1,19 +1,48 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries +# SPDX-FileCopyrightText: 2022 Kattni Rembor, written for Adafruit Industries # -# SPDX-License-Identifier: Unlicense +# SPDX-License-Identifier: MIT +# Do not include files and directories created by your personal work environment, such as the IDE +# you use, except for those already listed here. Pull requests including changes to this file will +# not be accepted. + +# This .gitignore file contains rules for files generated by working with CircuitPython libraries, +# including building Sphinx, testing with pip, and creating a virual environment, as well as the +# MacOS and IDE-specific files generated by using MacOS in general, or the PyCharm or VSCode IDEs. + +# If you find that there are files being generated on your machine that should not be included in +# your git commit, you should create a .gitignore_global file on your computer to include the +# files created by your personal setup. To do so, follow the two steps below. + +# First, create a file called .gitignore_global somewhere convenient for you, and add rules for +# the files you want to exclude from git commits. + +# Second, configure Git to use the exclude file for all Git repositories by running the +# following via commandline, replacing "path/to/your/" with the actual path to your newly created +# .gitignore_global file: +# git config --global core.excludesfile path/to/your/.gitignore_global + +# CircuitPython-specific files *.mpy -.idea + +# Python-specific files __pycache__ -_build *.pyc + +# Sphinx build-specific files +_build + +# This file results from running `pip -e install .` in a local repository +*.egg-info + +# Virtual environment-specific files .env -.python-version -build*/ -bundles +.venv + +# MacOS-specific files *.DS_Store -.eggs -dist -**/*.egg-info + +# IDE-specific files +.idea .vscode -*notes* +*~ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 43d1385..ff19dde 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,42 +1,21 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries # # SPDX-License-Identifier: Unlicense repos: -- repo: https://github.com/python/black - rev: 20.8b1 + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 hooks: - - id: black -- repo: https://github.com/fsfe/reuse-tool - rev: v0.12.1 + - id: check-yaml + - id: end-of-file-fixer + - id: trailing-whitespace + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.3.4 hooks: - - id: reuse -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v2.3.0 + - id: ruff-format + - id: ruff + args: ["--fix"] + - repo: https://github.com/fsfe/reuse-tool + rev: v3.0.1 hooks: - - id: check-yaml - - id: end-of-file-fixer - - id: trailing-whitespace -- repo: https://github.com/pycqa/pylint - rev: v2.11.1 - hooks: - - id: pylint - name: pylint (library code) - types: [python] - args: - - --disable=consider-using-f-string,duplicate-code - exclude: "^(docs/|examples/|tests/|setup.py$)" - - id: pylint - name: pylint (example code) - description: Run pylint rules on "examples/*.py" files - types: [python] - files: "^examples/" - args: - - --disable=missing-docstring,invalid-name,consider-using-f-string,duplicate-code - - id: pylint - name: pylint (test code) - description: Run pylint rules on "tests/*.py" files - types: [python] - files: "^tests/" - args: - - --disable=missing-docstring,consider-using-f-string,duplicate-code + - id: reuse diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index bd3976d..0000000 --- a/.pylintrc +++ /dev/null @@ -1,436 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist= - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=1 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -# disable=import-error,print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call -disable=print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call,import-error,bad-continuation,unspecified-encoding - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable= - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -# notes=FIXME,XXX,TODO -notes=FIXME,XXX - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members= - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=board - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_,_cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -# expected-line-ending-format= -expected-line-ending-format=LF - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# List of optional constructs for which whitespace checking is disabled. `dict- -# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. -# `trailing-comma` allows a space between comma and closing bracket: (a, ). -# `empty-line` allows space-only lines. -no-space-check=trailing-comma,dict-separator - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=yes - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[BASIC] - -# Naming hint for argument names -argument-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct argument names -argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Naming hint for attribute names -attr-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct attribute names -attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo,bar,baz,toto,tutu,tata - -# Naming hint for class attribute names -class-attribute-name-hint=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Regular expression matching correct class attribute names -class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ - -# Naming hint for class names -# class-name-hint=[A-Z_][a-zA-Z0-9]+$ -class-name-hint=[A-Z_][a-zA-Z0-9_]+$ - -# Regular expression matching correct class names -# class-rgx=[A-Z_][a-zA-Z0-9]+$ -class-rgx=[A-Z_][a-zA-Z0-9_]+$ - -# Naming hint for constant names -const-name-hint=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Regular expression matching correct constant names -const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming hint for function names -function-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct function names -function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Good variable names which should always be accepted, separated by a comma -# good-names=i,j,k,ex,Run,_ -good-names=r,g,b,w,i,j,k,n,x,y,z,ex,ok,Run,_ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Naming hint for inline iteration names -inlinevar-name-hint=[A-Za-z_][A-Za-z0-9_]*$ - -# Regular expression matching correct inline iteration names -inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ - -# Naming hint for method names -method-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct method names -method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Naming hint for module names -module-name-hint=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Regular expression matching correct module names -module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Naming hint for variable names -variable-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - -# Regular expression matching correct variable names -variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__,__new__,setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict,_fields,_replace,_source,_make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -# max-attributes=7 -max-attributes=11 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=1 - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions=Exception diff --git a/.readthedocs.yaml b/.readthedocs.yaml new file mode 100644 index 0000000..255dafd --- /dev/null +++ b/.readthedocs.yaml @@ -0,0 +1,22 @@ +# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense + +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +sphinx: + configuration: docs/conf.py + +build: + os: ubuntu-lts-latest + tools: + python: "3" + +python: + install: + - requirements: docs/requirements.txt + - requirements: requirements.txt diff --git a/.readthedocs.yml b/.readthedocs.yml deleted file mode 100644 index 338427a..0000000 --- a/.readthedocs.yml +++ /dev/null @@ -1,7 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# -# SPDX-License-Identifier: Unlicense - -python: - version: 3 -requirements_file: docs/requirements.txt diff --git a/README.rst b/README.rst index f9b6a59..847d7e8 100644 --- a/README.rst +++ b/README.rst @@ -2,10 +2,10 @@ Introduction ============ .. image:: https://readthedocs.org/projects/adafruit-circuitpython-bno08x/badge/?version=latest - :target: https://circuitpython.readthedocs.io/projects/bno08x/en/latest/ + :target: https://docs.circuitpython.org/projects/bno08x/en/latest/ :alt: Documentation Status -.. image:: https://img.shields.io/discord/327254708534116352.svg +.. image:: https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_Bundle/main/badges/adafruit_discord.svg :target: https://adafru.it/discord :alt: Discord @@ -13,9 +13,9 @@ Introduction :target: https://github.com/adafruit/Adafruit_CircuitPython_BNO08x/actions :alt: Build Status -.. image:: https://img.shields.io/badge/code%20style-black-000000.svg - :target: https://github.com/psf/black - :alt: Code Style: Black +.. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json + :target: https://github.com/astral-sh/ruff + :alt: Code Style: Ruff Helper library for the Hillcrest Laboratories BNO08x IMUs @@ -52,8 +52,8 @@ To install in a virtual environment in your current project: .. code-block:: shell mkdir project-name && cd project-name - python3 -m venv .env - source .env/bin/activate + python3 -m venv .venv + source .venv/bin/activate pip3 install adafruit-circuitpython-bno08x Usage Example @@ -66,18 +66,21 @@ Usage Example from adafruit_bno08x.i2c import BNO08X_I2C from adafruit_bno08x import BNO_REPORT_ACCELEROMETER + REPORT_INTERVAL = const(100000) # 100 Hz i2c = busio.I2C(board.SCL, board.SDA) bno = BNO08X_I2C(i2c) - bno.enable_feature(BNO_REPORT_ACCELEROMETER) + bno.enable_feature(BNO_REPORT_ACCELEROMETER, REPORT_INTERVAL) while True: - accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) Documentation ============= -API documentation for this library can be found on `Read the Docs `_. +API documentation for this library can be found on `Read the Docs `_. + +For information on building library documentation, please check out `this guide `_. Contributing ============ @@ -85,8 +88,3 @@ Contributing Contributions are welcome! Please read our `Code of Conduct `_ before contributing to help this project stay welcoming. - -Documentation -============= - -For information on building library documentation, please check out `this guide `_. diff --git a/adafruit_bno08x/__init__.py b/adafruit_bno08x/__init__.py index dff7225..77ed577 100644 --- a/adafruit_bno08x/__init__.py +++ b/adafruit_bno08x/__init__.py @@ -1,4 +1,3 @@ -# pylint:disable=too-many-lines # SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries # # SPDX-License-Identifier: MIT @@ -25,17 +24,29 @@ * `Adafruit's Bus Device library `_ """ -__version__ = "0.0.0-auto.0" + +from __future__ import annotations + +__version__ = "0.0.0+auto.0" __repo__ = "https:# github.com/adafruit/Adafruit_CircuitPython_BNO08x.git" -from struct import unpack_from, pack_into -from collections import namedtuple import time +from collections import namedtuple +from struct import pack_into, unpack_from + from micropython import const # TODO: Remove on release from .debug import channels, reports +# For IDE type recognition +try: + from typing import Any, Optional + + from digitalio import DigitalInOut +except ImportError: + pass + # TODO: shorten names # Channel 0: the SHTP command channel BNO_CHANNEL_SHTP_COMMAND = const(0) @@ -81,6 +92,9 @@ BNO_REPORT_LINEAR_ACCELERATION = const(0x04) # Rotation Vector BNO_REPORT_ROTATION_VECTOR = const(0x05) +# Gravity Vector (m/s2). Vector direction of gravity +BNO_REPORT_GRAVITY = const(0x06) +# Game Rotation Vector BNO_REPORT_GAME_ROTATION_VECTOR = const(0x08) BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR = const(0x09) @@ -139,6 +153,7 @@ } _AVAIL_SENSOR_REPORTS = { BNO_REPORT_ACCELEROMETER: (_Q_POINT_8_SCALAR, 3, 10), + BNO_REPORT_GRAVITY: (_Q_POINT_8_SCALAR, 3, 10), BNO_REPORT_GYROSCOPE: (_Q_POINT_9_SCALAR, 3, 10), BNO_REPORT_MAGNETOMETER: (_Q_POINT_4_SCALAR, 3, 10), BNO_REPORT_LINEAR_ACCELERATION: (_Q_POINT_8_SCALAR, 3, 10), @@ -173,9 +188,7 @@ BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR: (0.0, 0.0, 0.0, 0.0), } -_ENABLED_ACTIVITIES = ( - 0x1FF # All activities; 1 bit set for each of 8 activities, + Unknown -) +_ENABLED_ACTIVITIES = 0x1FF # All activities; 1 bit set for each of 8 activities, + Unknown DATA_BUFFER_SIZE = const(512) # data buffer size. obviously eats ram PacketHeader = namedtuple( @@ -199,15 +212,15 @@ class PacketError(Exception): """Raised when the packet couldnt be parsed""" - pass # pylint:disable=unnecessary-pass + pass -def _elapsed(start_time): +def _elapsed(start_time: float) -> float: return time.monotonic() - start_time ############ PACKET PARSING ########################### -def _parse_sensor_report_data(report_bytes): +def _parse_sensor_report_data(report_bytes: bytearray) -> tuple[tuple, int]: """Parses reports with only 16-bit fields""" data_offset = 4 # this may not always be true report_id = report_bytes[0] @@ -231,15 +244,13 @@ def _parse_sensor_report_data(report_bytes): return (results_tuple, accuracy) -def _parse_step_couter_report(report_bytes): +def _parse_step_couter_report(report_bytes: bytearray) -> int: return unpack_from(" str: classification_bitfield = unpack_from(" tuple[Any, ...]: return unpack_from(" dict[str, str]: activities = [ "Unknown", "In-Vehicle", # look @@ -288,12 +299,12 @@ def _parse_activity_classifier_report(report_bytes): return classification -def _parse_shake_report(report_bytes): +def _parse_shake_report(report_bytes: bytearray) -> bool: shake_bitfield = unpack_from(" 0 -def parse_sensor_id(buffer): +def parse_sensor_id(buffer: bytearray) -> tuple[int, ...]: """Parse the fields of a product id report""" if not buffer[0] == _SHTP_REPORT_PRODUCT_ID_RESPONSE: raise AttributeError("Wrong report id for sensor id: %s" % hex(buffer[0])) @@ -307,8 +318,7 @@ def parse_sensor_id(buffer): return (sw_part_number, sw_major, sw_minor, sw_patch, sw_build_number) -def _parse_command_response(report_bytes): - +def _parse_command_response(report_bytes: bytearray) -> tuple[Any, Any]: # CMD response report: # 0 Report ID = 0xF1 # 1 Sequence number @@ -323,8 +333,11 @@ def _parse_command_response(report_bytes): def _insert_command_request_report( - command, buffer, next_sequence_number, command_params=None -): + command: int, + buffer: bytearray, + next_sequence_number: int, + command_params: Optional[list[int]] = None, +) -> None: if command_params and len(command_params) > 9: raise AttributeError( "Command request reports can only have up to 9 arguments but %d were given" @@ -342,14 +355,14 @@ def _insert_command_request_report( buffer[3 + idx] = param -def _report_length(report_id): +def _report_length(report_id: int) -> int: if report_id < 0xF0: # it's a sensor report return _AVAIL_SENSOR_REPORTS[report_id][2] return _REPORT_LENGTHS[report_id] -def _separate_batch(packet, report_slices): +def _separate_batch(packet: Packet, report_slices: list[Any]) -> None: # get first report id, loop up its report length # read that many bytes, parse them next_byte_index = 0 @@ -370,25 +383,15 @@ def _separate_batch(packet, report_slices): next_byte_index = next_byte_index + required_bytes -# class Report: -# _buffer = bytearray(DATA_BUFFER_SIZE) -# _report_obj = Report(_buffer) - -# @classmethod -# def get_report(cls) -# return cls._report_obj - - class Packet: """A class representing a Hillcrest LaboratorySensor Hub Transport packet""" - def __init__(self, packet_bytes): + def __init__(self, packet_bytes: bytearray) -> None: self.header = self.header_from_buffer(packet_bytes) data_end_index = self.header.data_length + _BNO_HEADER_LEN self.data = packet_bytes[_BNO_HEADER_LEN:data_end_index] - def __str__(self): - + def __str__(self) -> str: length = self.header.packet_byte_count outstr = "\n\t\t********** Packet *************\n" outstr += "DBG::\t\t HEADER:\n" @@ -398,35 +401,25 @@ def __str__(self): channels[self.channel_number], self.channel_number, ) - if self.channel_number in [ + if self.channel_number in { _BNO_CHANNEL_CONTROL, _BNO_CHANNEL_INPUT_SENSOR_REPORTS, - ]: + }: if self.report_id in reports: outstr += "DBG::\t\t \tReport Type: %s (0x%x)\n" % ( reports[self.report_id], self.report_id, ) else: - outstr += "DBG::\t\t \t** UNKNOWN Report Type **: %s\n" % hex( - self.report_id - ) + outstr += "DBG::\t\t \t** UNKNOWN Report Type **: %s\n" % hex(self.report_id) - if ( - self.report_id > 0xF0 - and len(self.data) >= 6 - and self.data[5] in reports - ): + if self.report_id > 0xF0 and len(self.data) >= 6 and self.data[5] in reports: outstr += "DBG::\t\t \tSensor Report Type: %s(%s)\n" % ( reports[self.data[5]], hex(self.data[5]), ) - if ( - self.report_id == 0xFC - and len(self.data) >= 6 - and self.data[1] in reports - ): + if self.report_id == 0xFC and len(self.data) >= 6 and self.data[1] in reports: outstr += "DBG::\t\t \tEnabled Feature: %s(%s)\n" % ( reports[self.data[1]], hex(self.data[5]), @@ -438,25 +431,25 @@ def __str__(self): for idx, packet_byte in enumerate(self.data[:length]): packet_index = idx + 4 if (packet_index % 4) == 0: - outstr += "\nDBG::\t\t[0x{:02X}] ".format(packet_index) - outstr += "0x{:02X} ".format(packet_byte) + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " outstr += "\n" outstr += "\t\t*******************************\n" return outstr @property - def report_id(self): + def report_id(self) -> int: """The Packet's Report ID""" return self.data[0] @property - def channel_number(self): + def channel_number(self) -> int: """The packet channel""" return self.header.channel_number @classmethod - def header_from_buffer(cls, packet_bytes): + def header_from_buffer(cls, packet_bytes: bytearray) -> PacketHeader: """Creates a `PacketHeader` object from a given buffer""" packet_byte_count = unpack_from(" bool: """Returns True if the header is an error condition""" if header.channel_number > 5: @@ -480,39 +471,36 @@ def is_error(cls, header): return False -class BNO08X: # pylint: disable=too-many-instance-attributes, too-many-public-methods +class BNO08X: """Library for the BNO08x IMUs from Hillcrest Laboratories :param ~busio.I2C i2c_bus: The I2C bus the BNO08x is connected to. """ - def __init__(self, reset=None, debug=False): - self._debug = debug - self._reset = reset + def __init__(self, reset: Optional[DigitalInOut] = None, debug: bool = False) -> None: + self._debug: bool = debug + self._reset: Optional[DigitalInOut] = reset self._dbg("********** __init__ *************") - self._data_buffer = bytearray(DATA_BUFFER_SIZE) - self._command_buffer = bytearray(12) - self._packet_slices = [] + self._data_buffer: bytearray = bytearray(DATA_BUFFER_SIZE) + self._command_buffer: bytearray = bytearray(12) + self._packet_slices: list[Any] = [] # TODO: this is wrong there should be one per channel per direction - self._sequence_number = [0, 0, 0, 0, 0, 0] - self._two_ended_sequence_numbers = { - "send": {}, # holds the next seq number to send with the report id as a key - "receive": {}, - } - self._dcd_saved_at = -1 - self._me_calibration_started_at = -1 + self._sequence_number: list[int] = [0, 0, 0, 0, 0, 0] + self._two_ended_sequence_numbers: dict[int, int] = {} + self._dcd_saved_at: float = -1 + self._me_calibration_started_at: float = -1.0 self._calibration_complete = False self._magnetometer_accuracy = 0 self._wait_for_initialize = True self._init_complete = False self._id_read = False # for saving the most recent reading when decoding several packets - self._readings = {} + self._readings: dict[int, Any] = {} self.initialize() - def initialize(self): + def initialize(self) -> None: """Initialize the sensor""" for _ in range(3): self.hard_reset() @@ -520,13 +508,13 @@ def initialize(self): try: if self._check_id(): break - except: # pylint:disable=bare-except + except Exception: time.sleep(0.5) else: raise RuntimeError("Could not read ID") @property - def magnetic(self): + def magnetic(self) -> Optional[tuple[float, float, float]]: """A tuple of the current magnetic field measurements on the X, Y, and Z axes""" self._process_available_packets() # decorator? try: @@ -535,7 +523,7 @@ def magnetic(self): raise RuntimeError("No magfield report found, is it enabled?") from None @property - def quaternion(self): + def quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current rotation vector""" self._process_available_packets() try: @@ -544,18 +532,16 @@ def quaternion(self): raise RuntimeError("No quaternion report found, is it enabled?") from None @property - def geomagnetic_quaternion(self): + def geomagnetic_quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current geomagnetic rotation vector""" self._process_available_packets() try: return self._readings[BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR] except KeyError: - raise RuntimeError( - "No geomag quaternion report found, is it enabled?" - ) from None + raise RuntimeError("No geomag quaternion report found, is it enabled?") from None @property - def game_quaternion(self): + def game_quaternion(self) -> Optional[tuple[float, float, float, float]]: """A quaternion representing the current rotation vector expressed as a quaternion with no specific reference for heading, while roll and pitch are referenced against gravity. To prevent sudden jumps in heading due to corrections, the `game_quaternion` property is not @@ -564,12 +550,10 @@ def game_quaternion(self): try: return self._readings[BNO_REPORT_GAME_ROTATION_VECTOR] except KeyError: - raise RuntimeError( - "No game quaternion report found, is it enabled?" - ) from None + raise RuntimeError("No game quaternion report found, is it enabled?") from None @property - def steps(self): + def steps(self) -> Optional[int]: """The number of steps detected since the sensor was initialized""" self._process_available_packets() try: @@ -578,7 +562,7 @@ def steps(self): raise RuntimeError("No steps report found, is it enabled?") from None @property - def linear_acceleration(self): + def linear_acceleration(self) -> Optional[tuple[float, float, float]]: """A tuple representing the current linear acceleration values on the X, Y, and Z axes in meters per second squared""" self._process_available_packets() @@ -588,7 +572,7 @@ def linear_acceleration(self): raise RuntimeError("No lin. accel report found, is it enabled?") from None @property - def acceleration(self): + def acceleration(self) -> Optional[tuple[float, float, float]]: """A tuple representing the acceleration measurements on the X, Y, and Z axes in meters per second squared""" self._process_available_packets() @@ -598,7 +582,17 @@ def acceleration(self): raise RuntimeError("No accel report found, is it enabled?") from None @property - def gyro(self): + def gravity(self) -> Optional[tuple[float, float, float]]: + """A tuple representing the gravity vector in the X, Y, and Z components + axes in meters per second squared""" + self._process_available_packets() + try: + return self._readings[BNO_REPORT_GRAVITY] + except KeyError: + raise RuntimeError("No gravity report found, is it enabled?") from None + + @property + def gyro(self) -> Optional[tuple[float, float, float]]: """A tuple representing Gyro's rotation measurements on the X, Y, and Z axes in radians per second""" self._process_available_packets() @@ -608,7 +602,7 @@ def gyro(self): raise RuntimeError("No gyro report found, is it enabled?") from None @property - def shake(self): + def shake(self) -> Optional[bool]: """True if a shake was detected on any axis since the last time it was checked This property has a "latching" behavior where once a shake is detected, it will stay in a @@ -626,7 +620,7 @@ def shake(self): raise RuntimeError("No shake report found, is it enabled?") from None @property - def stability_classification(self): + def stability_classification(self) -> Optional[str]: """Returns the sensor's assessment of it's current stability, one of: * "Unknown" - The sensor is unable to classify the current stability @@ -643,12 +637,10 @@ def stability_classification(self): stability_classification = self._readings[BNO_REPORT_STABILITY_CLASSIFIER] return stability_classification except KeyError: - raise RuntimeError( - "No stability classification report found, is it enabled?" - ) from None + raise RuntimeError("No stability classification report found, is it enabled?") from None @property - def activity_classification(self): + def activity_classification(self) -> Optional[dict]: """Returns the sensor's assessment of the activity that is creating the motions\ that it is sensing, one of: @@ -668,24 +660,20 @@ def activity_classification(self): activity_classification = self._readings[BNO_REPORT_ACTIVITY_CLASSIFIER] return activity_classification except KeyError: - raise RuntimeError( - "No activity classification report found, is it enabled?" - ) from None + raise RuntimeError("No activity classification report found, is it enabled?") from None @property - def raw_acceleration(self): + def raw_acceleration(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the accelerometer registers""" self._process_available_packets() try: raw_acceleration = self._readings[BNO_REPORT_RAW_ACCELEROMETER] return raw_acceleration except KeyError: - raise RuntimeError( - "No raw acceleration report found, is it enabled?" - ) from None + raise RuntimeError("No raw acceleration report found, is it enabled?") from None @property - def raw_gyro(self): + def raw_gyro(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the gyro registers""" self._process_available_packets() try: @@ -695,7 +683,7 @@ def raw_gyro(self): raise RuntimeError("No raw gyro report found, is it enabled?") from None @property - def raw_magnetic(self): + def raw_magnetic(self) -> Optional[tuple[int, int, int]]: """Returns the sensor's raw, unscaled value from the magnetometer registers""" self._process_available_packets() try: @@ -704,7 +692,7 @@ def raw_magnetic(self): except KeyError: raise RuntimeError("No raw magnetic report found, is it enabled?") from None - def begin_calibration(self): + def begin_calibration(self) -> None: """Begin the sensor's self-calibration routine""" # start calibration for accel, gyro, and mag self._send_me_command( @@ -723,7 +711,7 @@ def begin_calibration(self): self._calibration_complete = False @property - def calibration_status(self): + def calibration_status(self) -> int: """Get the status of the self-calibration""" self._send_me_command( [ @@ -740,8 +728,7 @@ def calibration_status(self): ) return self._magnetometer_accuracy - def _send_me_command(self, subcommand_params): - + def _send_me_command(self, subcommand_params: Optional[list[int]]) -> None: start_time = time.monotonic() local_buffer = self._command_buffer _insert_command_request_report( @@ -757,7 +744,7 @@ def _send_me_command(self, subcommand_params): if self._me_calibration_started_at > start_time: break - def save_calibration_data(self): + def save_calibration_data(self) -> None: """Save the self-calibration data""" # send a DCD save command start_time = time.monotonic() @@ -777,7 +764,7 @@ def save_calibration_data(self): ############### private/helper methods ############### # # decorator? - def _process_available_packets(self, max_packets=None): + def _process_available_packets(self, max_packets: Optional[int] = None) -> None: processed_count = 0 while self._data_ready: if max_packets and processed_count > max_packets: @@ -795,7 +782,9 @@ def _process_available_packets(self, max_packets=None): self._dbg("") self._dbg(" ** DONE! **") - def _wait_for_packet_type(self, channel_number, report_id=None, timeout=5.0): + def _wait_for_packet_type( + self, channel_number: int, report_id: Optional[int] = None, timeout: float = 5.0 + ) -> Packet: if report_id: report_id_str = " with report id %s" % hex(report_id) else: @@ -811,16 +800,16 @@ def _wait_for_packet_type(self, channel_number, report_id=None, timeout=5.0): return new_packet else: return new_packet - if new_packet.channel_number not in ( + if new_packet.channel_number not in { BNO_CHANNEL_EXE, BNO_CHANNEL_SHTP_COMMAND, - ): + }: self._dbg("passing packet to handler for de-slicing") self._handle_packet(new_packet) raise RuntimeError("Timed out waiting for a packet on channel", channel_number) - def _wait_for_packet(self, timeout=_PACKET_READ_TIMEOUT): + def _wait_for_packet(self, timeout: float = _PACKET_READ_TIMEOUT) -> Packet: start_time = time.monotonic() while _elapsed(start_time) < timeout: if not self._data_ready: @@ -832,12 +821,12 @@ def _wait_for_packet(self, timeout=_PACKET_READ_TIMEOUT): # update the cached sequence number so we know what to increment from # TODO: this is wrong there should be one per channel per direction # and apparently per report as well - def _update_sequence_number(self, new_packet): + def _update_sequence_number(self, new_packet: Packet) -> None: channel = new_packet.channel_number seq = new_packet.header.sequence_number self._sequence_number[channel] = seq - def _handle_packet(self, packet): + def _handle_packet(self, packet: Packet) -> None: # split out reports first try: _separate_batch(packet, self._packet_slices) @@ -847,7 +836,7 @@ def _handle_packet(self, packet): print(packet) raise error - def _handle_control_report(self, report_id, report_bytes): + def _handle_control_report(self, report_id: int, report_bytes: bytearray) -> None: if report_id == _SHTP_REPORT_PRODUCT_ID_RESPONSE: ( sw_part_number, @@ -871,7 +860,7 @@ def _handle_control_report(self, report_id, report_bytes): if report_id == _COMMAND_RESPONSE: self._handle_command_response(report_bytes) - def _handle_command_response(self, report_bytes): + def _handle_command_response(self, report_bytes: bytearray) -> None: (report_body, response_values) = _parse_command_response(report_bytes) ( @@ -894,7 +883,7 @@ def _handle_command_response(self, report_bytes): else: raise RuntimeError("Unable to save calibration data") - def _process_report(self, report_id, report_bytes): + def _process_report(self, report_id: int, report_bytes: bytearray) -> None: if report_id >= 0xF0: self._handle_control_report(report_id, report_bytes) return @@ -904,8 +893,8 @@ def _process_report(self, report_id, report_bytes): for idx, packet_byte in enumerate(report_bytes): packet_index = idx if (packet_index % 4) == 0: - outstr += "\nDBG::\t\t[0x{:02X}] ".format(packet_index) - outstr += "0x{:02X} ".format(packet_byte) + outstr += f"\nDBG::\t\t[0x{packet_index:02X}] " + outstr += f"0x{packet_byte:02X} " self._dbg(outstr) self._dbg("") @@ -943,8 +932,10 @@ def _process_report(self, report_id, report_bytes): # TODO: Make this a Packet creation @staticmethod def _get_feature_enable_report( - feature_id, report_interval=_DEFAULT_REPORT_INTERVAL, sensor_specific_config=0 - ): + feature_id: int, + report_interval: int, + sensor_specific_config: int = 0, + ) -> bytearray: set_feature_report = bytearray(17) set_feature_report[0] = _SET_FEATURE_COMMAND set_feature_report[1] = feature_id @@ -956,16 +947,20 @@ def _get_feature_enable_report( # TODO: add docs for available features # TODO2: I think this should call an fn that imports all the bits for the given feature # so we're not carrying around stuff for extra features - def enable_feature(self, feature_id): + def enable_feature( + self, + feature_id: int, + report_interval: int = _DEFAULT_REPORT_INTERVAL, + ) -> None: """Used to enable a given feature of the BNO08x""" self._dbg("\n********** Enabling feature id:", feature_id, "**********") if feature_id == BNO_REPORT_ACTIVITY_CLASSIFIER: set_feature_report = self._get_feature_enable_report( - feature_id, sensor_specific_config=_ENABLED_ACTIVITIES + feature_id, report_interval, _ENABLED_ACTIVITIES ) else: - set_feature_report = self._get_feature_enable_report(feature_id) + set_feature_report = self._get_feature_enable_report(feature_id, report_interval) feature_dependency = _RAW_REPORTS.get(feature_id, None) # if the feature was enabled it will have a key in the readings dict @@ -984,7 +979,7 @@ def enable_feature(self, feature_id): return raise RuntimeError("Was not able to enable feature", feature_id) - def _check_id(self): + def _check_id(self) -> bool: self._dbg("\n********** READ ID **********") if self._id_read: return True @@ -996,9 +991,7 @@ def _check_id(self): self._dbg("\n** Waiting for packet **") # _a_ packet arrived, but which one? while True: - self._wait_for_packet_type( - _BNO_CHANNEL_CONTROL, _SHTP_REPORT_PRODUCT_ID_RESPONSE - ) + self._wait_for_packet_type(_BNO_CHANNEL_CONTROL, _SHTP_REPORT_PRODUCT_ID_RESPONSE) sensor_id = self._parse_sensor_id() if sensor_id: self._id_read = True @@ -1007,7 +1000,7 @@ def _check_id(self): return False - def _parse_sensor_id(self): + def _parse_sensor_id(self) -> Optional[int]: if not self._data_buffer[4] == _SHTP_REPORT_PRODUCT_ID_RESPONSE: return None @@ -1025,25 +1018,24 @@ def _parse_sensor_id(self): # TODO: this is only one of the numbers! return sw_part_number - def _dbg(self, *args, **kwargs): + def _dbg(self, *args: Any, **kwargs: Any) -> None: if self._debug: print("DBG::\t\t", *args, **kwargs) - def _get_data(self, index, fmt_string): + def _get_data(self, index: int, fmt_string: str) -> Any: # index arg is not including header, so add 4 into data buffer data_index = index + 4 return unpack_from(fmt_string, self._data_buffer, offset=data_index)[0] - # pylint:disable=no-self-use @property - def _data_ready(self): + def _data_ready(self) -> None: raise RuntimeError("Not implemented") - def hard_reset(self): + def hard_reset(self) -> None: """Hardware reset the sensor to an initial unconfigured state""" if not self._reset: return - import digitalio # pylint:disable=import-outside-toplevel + import digitalio # noqa: PLC0415 self._reset.direction = digitalio.Direction.OUTPUT self._reset.value = True @@ -1053,7 +1045,7 @@ def hard_reset(self): self._reset.value = True time.sleep(0.01) - def soft_reset(self): + def soft_reset(self) -> None: """Reset the sensor to an initial unconfigured state""" self._dbg("Soft resetting...", end="") data = bytearray(1) @@ -1072,15 +1064,15 @@ def soft_reset(self): self._dbg("OK!") # all is good! - def _send_packet(self, channel, data): + def _send_packet(self, channel: int, data: bytearray) -> Optional[int]: # noqa: PLR6301 raise RuntimeError("Not implemented") - def _read_packet(self): + def _read_packet(self) -> Optional[Packet]: # noqa: PLR6301 raise RuntimeError("Not implemented") - def _increment_report_seq(self, report_id): + def _increment_report_seq(self, report_id: int) -> None: current = self._two_ended_sequence_numbers.get(report_id, 0) self._two_ended_sequence_numbers[report_id] = (current + 1) % 256 - def _get_report_seq_id(self, report_id): + def _get_report_seq_id(self, report_id: int) -> int: return self._two_ended_sequence_numbers.get(report_id, 0) diff --git a/adafruit_bno08x/debug.py b/adafruit_bno08x/debug.py index 6534152..571de89 100644 --- a/adafruit_bno08x/debug.py +++ b/adafruit_bno08x/debug.py @@ -2,6 +2,7 @@ # # SPDX-License-Identifier: MIT """A collection of dictionaries for better debug messages""" + # TODO: Remove for size before release channels = { 0x0: "SHTP_COMMAND", diff --git a/adafruit_bno08x/i2c.py b/adafruit_bno08x/i2c.py index 882acd5..582de8d 100644 --- a/adafruit_bno08x/i2c.py +++ b/adafruit_bno08x/i2c.py @@ -3,12 +3,15 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use I2C +Subclass of `adafruit_bno08x.BNO08X` to use I2C """ + from struct import pack_into + from adafruit_bus_device import i2c_device -from . import BNO08X, DATA_BUFFER_SIZE, const, Packet, PacketError + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, const _BNO08X_DEFAULT_ADDRESS = const(0x4A) @@ -20,9 +23,7 @@ class BNO08X_I2C(BNO08X): """ - def __init__( - self, i2c_bus, reset=None, address=_BNO08X_DEFAULT_ADDRESS, debug=False - ): + def __init__(self, i2c_bus, reset=None, address=_BNO08X_DEFAULT_ADDRESS, debug=False): self.bus_device_obj = i2c_device.I2CDevice(i2c_bus, address) super().__init__(reset, debug) diff --git a/adafruit_bno08x/spi.py b/adafruit_bno08x/spi.py index 9337f0f..9e57416 100644 --- a/adafruit_bno08x/spi.py +++ b/adafruit_bno08x/spi.py @@ -3,15 +3,17 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use SPI +Subclass of `adafruit_bno08x.BNO08X` to use SPI """ + import time from struct import pack_into -from digitalio import Direction, Pull from adafruit_bus_device import spi_device -from . import BNO08X, DATA_BUFFER_SIZE, _elapsed, Packet, PacketError +from digitalio import Direction, Pull + +from . import BNO08X, DATA_BUFFER_SIZE, Packet, PacketError, _elapsed class BNO08X_SPI(BNO08X): @@ -30,12 +32,8 @@ class BNO08X_SPI(BNO08X): # """ - def __init__( - self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False - ): # pylint:disable=too-many-arguments - self._spi = spi_device.SPIDevice( - spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1 - ) + def __init__(self, spi_bus, cspin, intpin, resetpin, baudrate=1000000, debug=False): + self._spi = spi_device.SPIDevice(spi_bus, cspin, baudrate=baudrate, polarity=1, phase=1) self._int = intpin super().__init__(resetpin, debug) @@ -115,10 +113,7 @@ def _read_packet(self): if packet_byte_count == 0: raise PacketError("No packet available") - self._dbg( - "channel %d has %d bytes available" - % (channel_number, packet_byte_count - 4) - ) + self._dbg("channel %d has %d bytes available" % (channel_number, packet_byte_count - 4)) if packet_byte_count > DATA_BUFFER_SIZE: self._data_buffer = bytearray(packet_byte_count) diff --git a/adafruit_bno08x/uart.py b/adafruit_bno08x/uart.py index f968268..706d62b 100644 --- a/adafruit_bno08x/uart.py +++ b/adafruit_bno08x/uart.py @@ -3,11 +3,13 @@ # SPDX-License-Identifier: MIT """ - Subclass of `adafruit_bno08x.BNO08X` to use UART +Subclass of `adafruit_bno08x.BNO08X` to use UART """ + import time from struct import pack_into + from . import ( BNO08X, BNO_CHANNEL_EXE, @@ -35,7 +37,6 @@ def _send_packet(self, channel, data): byte_buffer = bytearray(1) # request available size - # pylint:disable=pointless-string-statement """ self._uart.write(b'\x7e') # start byte time.sleep(0.001) @@ -46,7 +47,6 @@ def _send_packet(self, channel, data): if avail[0] != 0x7e and avail[1] != 0x01 and avail[4] != 0x7e: raise RuntimeError("Couldn't get available buffer size") """ - # pylint:enable=pointless-string-statement pack_into(" DATA_BUFFER_SIZE: self._data_buffer = bytearray(packet_byte_count) diff --git a/docs/_static/custom.css b/docs/_static/custom.css new file mode 100644 index 0000000..d60cf4b --- /dev/null +++ b/docs/_static/custom.css @@ -0,0 +1,8 @@ +/* SPDX-FileCopyrightText: 2025 Sam Blenny + * SPDX-License-Identifier: MIT + */ + +/* Monkey patch the rtd theme to prevent horizontal stacking of short items + * see https://github.com/readthedocs/sphinx_rtd_theme/issues/1301 + */ +.py.property{display: block !important;} diff --git a/docs/api.rst b/docs/api.rst index ecae971..94131db 100644 --- a/docs/api.rst +++ b/docs/api.rst @@ -4,5 +4,8 @@ .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) .. use this format as the module name: "adafruit_foo.foo" +API Reference +############# + .. automodule:: adafruit_bno08x :members: diff --git a/docs/conf.py b/docs/conf.py index e76ae80..2a31881 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,9 +1,8 @@ -# -*- coding: utf-8 -*- - # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries # # SPDX-License-Identifier: MIT +import datetime import os import sys @@ -16,6 +15,7 @@ # ones. extensions = [ "sphinx.ext.autodoc", + "sphinxcontrib.jquery", "sphinx.ext.intersphinx", "sphinx.ext.napoleon", "sphinx.ext.todo", @@ -25,12 +25,12 @@ intersphinx_mapping = { - "python": ("https://docs.python.org/3.4", None), + "python": ("https://docs.python.org/3", None), "BusDevice": ( - "https://circuitpython.readthedocs.io/projects/busdevice/en/latest/", + "https://docs.circuitpython.org/projects/busdevice/en/latest/", None, ), - "CircuitPython": ("https://circuitpython.readthedocs.io/en/latest/", None), + "CircuitPython": ("https://docs.circuitpython.org/en/latest/", None), } # Add any paths that contain templates here, relative to this directory. @@ -43,7 +43,12 @@ # General information about the project. project = "Adafruit BNO08x Library" -copyright = "2020 Bryan Siepert" +creation_year = "2020" +current_year = str(datetime.datetime.now().year) +year_duration = ( + current_year if current_year == creation_year else creation_year + " - " + current_year +) +copyright = year_duration + " Bryan Siepert" author = "Bryan Siepert" # The version info for the project you're documenting, acts as replacement for @@ -60,7 +65,7 @@ # # This is also used if you do content translation via gettext catalogs. # Usually you set "language" from the command line for these cases. -language = None +language = "en" # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. @@ -98,25 +103,18 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. # -on_rtd = os.environ.get("READTHEDOCS", None) == "True" - -if not on_rtd: # only import and set the theme if we're building docs locally - try: - import sphinx_rtd_theme +import sphinx_rtd_theme - html_theme = "sphinx_rtd_theme" - html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), "."] - except: - html_theme = "default" - html_theme_path = ["."] -else: - html_theme_path = ["."] +html_theme = "sphinx_rtd_theme" # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = ["_static"] +# Include extra css to work around rtd theme glitches +html_css_files = ["custom.css"] + # The name of an image file (relative to this directory) to use as a favicon of # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 # pixels large. diff --git a/docs/index.rst b/docs/index.rst index 193e210..8d63075 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -32,8 +32,9 @@ Table of Contents .. toctree:: :caption: Other Links - Download - CircuitPython Reference Documentation + Download from GitHub + Download Library Bundle + CircuitPython Reference Documentation CircuitPython Support Forum Discord Chat Adafruit Learning System diff --git a/docs/requirements.txt b/docs/requirements.txt index 88e6733..979f568 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -2,4 +2,6 @@ # # SPDX-License-Identifier: Unlicense -sphinx>=4.0.0 +sphinx +sphinxcontrib-jquery +sphinx-rtd-theme diff --git a/examples/bno08x_calibration.py b/examples/bno08x_calibration.py index 9a98f10..b82a5d4 100644 --- a/examples/bno08x_calibration.py +++ b/examples/bno08x_calibration.py @@ -2,9 +2,11 @@ # # SPDX-License-Identifier: Unlicense import time + import board import busio from digitalio import DigitalInOut + import adafruit_bno08x from adafruit_bno08x.i2c import BNO08X_I2C @@ -22,7 +24,7 @@ time.sleep(0.1) print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magnetic # pylint:disable=no-member + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") @@ -32,7 +34,7 @@ game_quat_j, game_quat_k, game_quat_real, - ) = bno.game_quaternion # pylint:disable=no-member + ) = bno.game_quaternion print( "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) diff --git a/examples/bno08x_find_heading.py b/examples/bno08x_find_heading.py index b156ace..7a52ef2 100644 --- a/examples/bno08x_find_heading.py +++ b/examples/bno08x_find_heading.py @@ -2,19 +2,19 @@ # SPDX-License-Identifier: Unlicense import time -from math import atan2, sqrt, pi +from math import atan2, pi, sqrt + from board import SCL, SDA from busio import I2C + from adafruit_bno08x import ( - BNO_REPORT_STEP_COUNTER, - BNO_REPORT_ROTATION_VECTOR, BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR, + BNO_REPORT_ROTATION_VECTOR, ) from adafruit_bno08x.i2c import BNO08X_I2C i2c = I2C(SCL, SDA, frequency=800000) bno = BNO08X_I2C(i2c) -bno.enable_feature(BNO_REPORT_STEP_COUNTER) bno.enable_feature(BNO_REPORT_ROTATION_VECTOR) bno.enable_feature(BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR) diff --git a/examples/bno08x_more_reports.py b/examples/bno08x_more_reports.py index 15a6743..3624887 100644 --- a/examples/bno08x_more_reports.py +++ b/examples/bno08x_more_reports.py @@ -2,8 +2,10 @@ # # SPDX-License-Identifier: MIT import time + import board import busio + import adafruit_bno08x from adafruit_bno08x.i2c import BNO08X_I2C @@ -29,17 +31,17 @@ time.sleep(0.1) print("Acceleration:") - accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) print("") print("Gyro:") - gyro_x, gyro_y, gyro_z = bno.gyro # pylint:disable=no-member + gyro_x, gyro_y, gyro_z = bno.gyro print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) print("") print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magnetic # pylint:disable=no-member + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") @@ -48,18 +50,13 @@ linear_accel_x, linear_accel_y, linear_accel_z, - ) = bno.linear_acceleration # pylint:disable=no-member - print( - "X: %0.6f Y: %0.6f Z: %0.6f m/s^2" - % (linear_accel_x, linear_accel_y, linear_accel_z) - ) + ) = bno.linear_acceleration + print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (linear_accel_x, linear_accel_y, linear_accel_z)) print("") print("Rotation Vector Quaternion:") - quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") print("Geomagnetic Rotation Vector Quaternion:") @@ -68,7 +65,7 @@ geo_quat_j, geo_quat_k, geo_quat_real, - ) = bno.geomagnetic_quaternion # pylint:disable=no-member + ) = bno.geomagnetic_quaternion print( "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real) @@ -81,7 +78,7 @@ game_quat_j, game_quat_k, game_quat_real, - ) = bno.game_quaternion # pylint:disable=no-member + ) = bno.game_quaternion print( "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) @@ -108,11 +105,7 @@ raw_accel_y, raw_accel_z, ) = bno.raw_acceleration - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_accel_x, raw_accel_y, raw_accel_z - ) - ) + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") print("") print("Raw Gyro:") @@ -121,11 +114,7 @@ raw_accel_y, raw_accel_z, ) = bno.raw_gyro - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_accel_x, raw_accel_y, raw_accel_z - ) - ) + print(f"X: 0x{raw_accel_x:04X} Y: 0x{raw_accel_y:04X} Z: 0x{raw_accel_z:04X} LSB") print("") print("Raw Magnetometer:") @@ -134,11 +123,7 @@ raw_mag_y, raw_mag_z, ) = bno.raw_magnetic - print( - "X: 0x{0:04X} Y: 0x{1:04X} Z: 0x{2:04X} LSB".format( - raw_mag_x, raw_mag_y, raw_mag_z - ) - ) + print(f"X: 0x{raw_mag_x:04X} Y: 0x{raw_mag_y:04X} Z: 0x{raw_mag_z:04X} LSB") print("") time.sleep(0.4) if bno.shake: diff --git a/examples/bno08x_quaternion_service.py b/examples/bno08x_quaternion_service.py index fd77924..24ff0ca 100644 --- a/examples/bno08x_quaternion_service.py +++ b/examples/bno08x_quaternion_service.py @@ -2,13 +2,16 @@ # # SPDX-License-Identifier: MIT import time + import board from adafruit_ble import BLERadio from adafruit_ble_adafruit.adafruit_service import AdafruitServerAdvertisement from adafruit_ble_adafruit.quaternion_service import QuaternionService + from adafruit_bno08x import BNO08X -i2c = board.I2C() +i2c = board.I2C() # uses board.SCL and board.SDA +# i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller bno = BNO08X(i2c) quat_svc = QuaternionService() @@ -32,7 +35,7 @@ ble.stop_advertising() while ble.connected: - now_msecs = time.monotonic_ns() // 1000000 # pylint: disable=no-member + now_msecs = time.monotonic_ns() // 1000000 if now_msecs - quat_last_read >= quat_svc.measurement_period: quat_svc.quaternion = bno.quaternion diff --git a/examples/bno08x_simpletest.py b/examples/bno08x_simpletest.py index ddea6e0..4335994 100644 --- a/examples/bno08x_simpletest.py +++ b/examples/bno08x_simpletest.py @@ -2,8 +2,10 @@ # # SPDX-License-Identifier: Unlicense import time + import board import busio + from adafruit_bno08x import ( BNO_REPORT_ACCELEROMETER, BNO_REPORT_GYROSCOPE, @@ -21,26 +23,23 @@ bno.enable_feature(BNO_REPORT_ROTATION_VECTOR) while True: - time.sleep(0.5) print("Acceleration:") - accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) print("") print("Gyro:") - gyro_x, gyro_y, gyro_z = bno.gyro # pylint:disable=no-member + gyro_x, gyro_y, gyro_z = bno.gyro print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) print("") print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magnetic # pylint:disable=no-member + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") print("Rotation Vector Quaternion:") - quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") diff --git a/examples/bno08x_simpletest_spi.py b/examples/bno08x_simpletest_spi.py index 747a7dc..f1c5174 100644 --- a/examples/bno08x_simpletest_spi.py +++ b/examples/bno08x_simpletest_spi.py @@ -2,9 +2,11 @@ # # SPDX-License-Identifier: Unlicense from time import sleep + import board import busio from digitalio import DigitalInOut, Direction + from adafruit_bno08x.spi import BNO08X_SPI # need to limit clock to 3Mhz @@ -26,10 +28,8 @@ while True: print("getting quat") - quat = bno.quaternion # pylint:disable=no-member + quat = bno.quaternion print("Rotation Vector Quaternion:") - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real) - ) + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat.i, quat.j, quat.k, quat.real)) print("") sleep(0.5) diff --git a/examples/bno08x_simpletest_uart.py b/examples/bno08x_simpletest_uart.py index ab67b1a..9a4a597 100644 --- a/examples/bno08x_simpletest_uart.py +++ b/examples/bno08x_simpletest_uart.py @@ -2,21 +2,22 @@ # # SPDX-License-Identifier: Unlicense import time + +import board +import busio + import adafruit_bno08x from adafruit_bno08x.uart import BNO08X_UART -import board # pylint:disable=wrong-import-order -import busio # pylint:disable=wrong-import-order - uart = busio.UART(board.TX, board.RX, baudrate=3000000, receiver_buffer_size=2048) # uncomment and comment out the above for use with Raspberry Pi # import serial -# uart = serial.Serial("/dev/serial0", 115200) +# uart = serial.Serial("/dev/serial0", 3000000) -# for a USB Serial cable: +# for USB Serial (via FTDI cable): # import serial -# uart = serial.Serial("/dev/ttyUSB0", baudrate=115200) +# uart = serial.Serial("/dev/ttyUSB0", baudrate=3000000) bno = BNO08X_UART(uart) @@ -42,25 +43,23 @@ time.sleep(0.5) print("Acceleration:") - accel_x, accel_y, accel_z = bno.acceleration # pylint:disable=no-member + accel_x, accel_y, accel_z = bno.acceleration print("X: %0.6f Y: %0.6f Z: %0.6f m/s^2" % (accel_x, accel_y, accel_z)) print("") print("Gyro:") - gyro_x, gyro_y, gyro_z = bno.gyro # pylint:disable=no-member + gyro_x, gyro_y, gyro_z = bno.gyro print("X: %0.6f Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z)) print("") print("Magnetometer:") - mag_x, mag_y, mag_z = bno.magnetic # pylint:disable=no-member + mag_x, mag_y, mag_z = bno.magnetic print("X: %0.6f Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z)) print("") print("Rotation Vector Quaternion:") - quat_i, quat_j, quat_k, quat_real = bno.quaternion # pylint:disable=no-member - print( - "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real) - ) + quat_i, quat_j, quat_k, quat_real = bno.quaternion + print("I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)) print("") # print("Linear Acceleration:") @@ -68,7 +67,7 @@ # linear_accel_x, # linear_accel_y, # linear_accel_z, - # ) = bno.linear_acceleration # pylint:disable=no-member + # ) = bno.linear_acceleration # print( # "X: %0.6f Y: %0.6f Z: %0.6f m/s^2" # % (linear_accel_x, linear_accel_y, linear_accel_z) @@ -81,7 +80,7 @@ # geo_quat_j, # geo_quat_k, # geo_quat_real, - # ) = bno.geomagnetic_quaternion # pylint:disable=no-member + # ) = bno.geomagnetic_quaternion # print( # "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" # % (geo_quat_i, geo_quat_j, geo_quat_k, geo_quat_real) @@ -94,7 +93,7 @@ # game_quat_j, # game_quat_k, # game_quat_real, - # ) = bno.game_quaternion # pylint:disable=no-member + # ) = bno.game_quaternion # print( # "I: %0.6f J: %0.6f K: %0.6f Real: %0.6f" # % (game_quat_i, game_quat_j, game_quat_k, game_quat_real) diff --git a/optional_requirements.txt b/optional_requirements.txt new file mode 100644 index 0000000..d4e27c4 --- /dev/null +++ b/optional_requirements.txt @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries +# +# SPDX-License-Identifier: Unlicense diff --git a/pyproject.toml b/pyproject.toml index f3c35ae..ad4db79 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,52 @@ -# SPDX-FileCopyrightText: 2020 Diego Elio Pettenò +# SPDX-FileCopyrightText: 2022 Alec Delaney for Adafruit Industries # -# SPDX-License-Identifier: Unlicense +# SPDX-License-Identifier: MIT -[tool.black] -target-version = ['py35'] +[build-system] +requires = [ + "setuptools", + "wheel", + "setuptools-scm", +] + +[project] +name = "adafruit-circuitpython-bno08x" +description = "Helper library for the Hillcrest Laboratories BNO08x IMUs" +version = "0.0.0+auto.0" +readme = "README.rst" +authors = [ + {name = "Adafruit Industries", email = "circuitpython@adafruit.com"} +] +urls = {Homepage = "https://github.com/adafruit/Adafruit_CircuitPython_BNO08x"} +keywords = [ + "adafruit", + "blinka", + "circuitpython", + "micropython", + "bno080", + "IMU", + "BNO055", + "SENSOR", + "FUSION", + "VR", + "MOTION", + "TRACK", + "BNO085", +] +license = {text = "MIT"} +classifiers = [ + "Intended Audience :: Developers", + "Topic :: Software Development :: Libraries", + "Topic :: Software Development :: Embedded Systems", + "Topic :: System :: Hardware", + "License :: OSI Approved :: MIT License", + "Programming Language :: Python :: 3", +] +dynamic = ["dependencies", "optional-dependencies"] + +[tool.setuptools] +packages = ["adafruit_bno08x"] + +[tool.setuptools.dynamic] +dependencies = {file = ["requirements.txt"]} +optional-dependencies = {optional = {file = ["optional_requirements.txt"]}} diff --git a/requirements.txt b/requirements.txt index 3207dbb..a45c547 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,7 +1,6 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries +# SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries # -# SPDX-License-Identifier: MIT +# SPDX-License-Identifier: Unlicense Adafruit-Blinka adafruit-circuitpython-busdevice diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..b4460e1 --- /dev/null +++ b/ruff.toml @@ -0,0 +1,106 @@ +# SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries +# +# SPDX-License-Identifier: MIT + +target-version = "py38" +line-length = 100 + +[lint] +preview = true +select = ["I", "PL", "UP"] + +extend-select = [ + "D419", # empty-docstring + "E501", # line-too-long + "W291", # trailing-whitespace + "PLC0414", # useless-import-alias + "PLC2401", # non-ascii-name + "PLC2801", # unnecessary-dunder-call + "PLC3002", # unnecessary-direct-lambda-call + "PLE0101", # return-in-init + "F706", # return-outside-function + "F704", # yield-outside-function + "PLE0116", # continue-in-finally + "PLE0117", # nonlocal-without-binding + "PLE0241", # duplicate-bases + "PLE0302", # unexpected-special-method-signature + "PLE0604", # invalid-all-object + "PLE0605", # invalid-all-format + "PLE0643", # potential-index-error + "PLE0704", # misplaced-bare-raise + "PLE1141", # dict-iter-missing-items + "PLE1142", # await-outside-async + "PLE1205", # logging-too-many-args + "PLE1206", # logging-too-few-args + "PLE1307", # bad-string-format-type + "PLE1310", # bad-str-strip-call + "PLE1507", # invalid-envvar-value + "PLE2502", # bidirectional-unicode + "PLE2510", # invalid-character-backspace + "PLE2512", # invalid-character-sub + "PLE2513", # invalid-character-esc + "PLE2514", # invalid-character-nul + "PLE2515", # invalid-character-zero-width-space + "PLR0124", # comparison-with-itself + "PLR0202", # no-classmethod-decorator + "PLR0203", # no-staticmethod-decorator + "UP004", # useless-object-inheritance + "PLR0206", # property-with-parameters + "PLR0904", # too-many-public-methods + "PLR0911", # too-many-return-statements + "PLR0912", # too-many-branches + "PLR0913", # too-many-arguments + "PLR0914", # too-many-locals + "PLR0915", # too-many-statements + "PLR0916", # too-many-boolean-expressions + "PLR1702", # too-many-nested-blocks + "PLR1704", # redefined-argument-from-local + "PLR1711", # useless-return + "C416", # unnecessary-comprehension + "PLR1733", # unnecessary-dict-index-lookup + "PLR1736", # unnecessary-list-index-lookup + + # ruff reports this rule is unstable + #"PLR6301", # no-self-use + + "PLW0108", # unnecessary-lambda + "PLW0120", # useless-else-on-loop + "PLW0127", # self-assigning-variable + "PLW0129", # assert-on-string-literal + "B033", # duplicate-value + "PLW0131", # named-expr-without-context + "PLW0245", # super-without-brackets + "PLW0406", # import-self + "PLW0602", # global-variable-not-assigned + "PLW0603", # global-statement + "PLW0604", # global-at-module-level + + # fails on the try: import typing used by libraries + #"F401", # unused-import + + "F841", # unused-variable + "E722", # bare-except + "PLW0711", # binary-op-exception + "PLW1501", # bad-open-mode + "PLW1508", # invalid-envvar-default + "PLW1509", # subprocess-popen-preexec-fn + "PLW2101", # useless-with-lock + "PLW3301", # nested-min-max +] + +ignore = [ + "PLR2004", # magic-value-comparison + "UP030", # format literals + "PLW1514", # unspecified-encoding + "PLR0913", # too-many-arguments + "PLR0915", # too-many-statements + "PLR0917", # too-many-positional-arguments + "PLR0904", # too-many-public-methods + "PLR0912", # too-many-branches + "PLR0916", # too-many-boolean-expressions + "UP007", # use x | y for type + "UP031", # use format instead of percent +] + +[format] +line-ending = "lf" diff --git a/setup.py b/setup.py deleted file mode 100644 index fc3da88..0000000 --- a/setup.py +++ /dev/null @@ -1,62 +0,0 @@ -# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries -# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries -# -# SPDX-License-Identifier: MIT - -"""A setuptools based setup module. - -See: -https://packaging.python.org/en/latest/distributing.html -https://github.com/pypa/sampleproject -""" - -from setuptools import setup, find_packages - -# To use a consistent encoding -from codecs import open -from os import path - -here = path.abspath(path.dirname(__file__)) - -# Get the long description from the README file -with open(path.join(here, "README.rst"), encoding="utf-8") as f: - long_description = f.read() - -setup( - name="adafruit-circuitpython-bno08x", - use_scm_version=True, - setup_requires=["setuptools_scm"], - description="Helper library for the Hillcrest Laboratories BNO08x IMUs", - long_description=long_description, - long_description_content_type="text/x-rst", - # The project's main homepage. - url="https://github.com/adafruit/Adafruit_CircuitPython_BNO08x", - # Author details - author="Adafruit Industries", - author_email="circuitpython@adafruit.com", - install_requires=[ - "Adafruit-Blinka", - "adafruit-circuitpython-busdevice", - ], - # Choose your license - license="MIT", - # See https://pypi.python.org/pypi?%3Aaction=list_classifiers - classifiers=[ - "Development Status :: 3 - Alpha", - "Intended Audience :: Developers", - "Topic :: Software Development :: Libraries", - "Topic :: System :: Hardware", - "License :: OSI Approved :: MIT License", - "Programming Language :: Python :: 3", - "Programming Language :: Python :: 3.4", - "Programming Language :: Python :: 3.5", - ], - # What does your project relate to? - keywords="adafruit blinka circuitpython micropython bno080 IMU BNO055 SENSOR FUSION VR " - "MOTION TRACK BNO085", - # You can just specify the packages manually here if your project is - # simple. Or you can use find_packages(). - # TODO: IF LIBRARY FILES ARE A PACKAGE FOLDER, - # CHANGE `py_modules=['...']` TO `packages=['...']` - packages=["adafruit_bno08x"], -)