Fix new clippy lints

crates/code_generation/src/execution.rs

@@ -516,7 +516,7 @@ fn generate_cycler_constructors(cyclers: &Cyclers, mode: CyclerMode) -> TokenStr
         } else {
             Default::default()
         };
-        let error_message = format!("failed to create cycler `{}`", instance);
+        let error_message = format!("failed to create cycler `{instance}`");
 
         quote! {
             #[allow(unused)]
@@ -567,7 +567,7 @@ fn generate_cycler_starts(cyclers: &Cyclers) -> TokenStream {
                 format_ident!("{}_cycler", instance.to_case(Case::Snake));
             let cycler_handle_identifier =
                 format_ident!("{}_handle", instance.to_case(Case::Snake));
-            let error_message = format!("failed to start cycler `{}`", instance);
+            let error_message = format!("failed to start cycler `{instance}`");
             quote! {
                 let #cycler_handle_identifier = #cycler_variable_identifier
                     .start(keep_running.clone())
@@ -644,7 +644,7 @@ fn generate_cycler_replays(cyclers: &Cyclers) -> TokenStream {
         .map(|(_cycler, instance)| {
             let cycler_variable_identifier =
                 format_ident!("{}_cycler", instance.to_case(Case::Snake));
-            let error_message = format!("failed to replay {} cycle", instance);
+            let error_message = format!("failed to replay {instance} cycle");
             quote! {
                 #instance => self.#cycler_variable_identifier.cycle(timestamp, data).wrap_err(#error_message),
             }

crates/hulk_imagine/src/write_to_mcap.rs

@@ -61,7 +61,7 @@ where
 
             outputs.into_iter().try_for_each(|(topic, data)| {
                 mcap_converter.add_to_mcap(
-                    format!("{}.{}", cycler_name, topic),
+                    format!("{cycler_name}.{topic}"),
                     &data,
                     index as u32,
                     timing.timestamp,

crates/kinematics/src/inverse.rs

@@ -48,8 +48,8 @@ pub fn leg_angles(
             * Rotation3::new(Vector3::y() * right_foot_pitch_2_in_pelvis))
             * Vector3::y());
 
-    let left_hip_yaw_pitch = -1.0 * (-1.0 * left_hip_rotation_c1.x).atan2(left_hip_rotation_c1.y);
-    let right_hip_yaw_pitch = (-1.0 * right_hip_rotation_c1.x).atan2(right_hip_rotation_c1.y);
+    let left_hip_yaw_pitch = -((-left_hip_rotation_c1.x).atan2(left_hip_rotation_c1.y));
+    let right_hip_yaw_pitch = (-right_hip_rotation_c1.x).atan2(right_hip_rotation_c1.y);
     let left_hip_yaw_pitch_combined =
         left_hip_yaw_pitch * ratio + right_hip_yaw_pitch * (1.0 - ratio);
 
@@ -63,19 +63,17 @@ pub fn leg_angles(
     let vector_right_hip_to_right_foot = right_foot_to_right_hip.translation;
 
     let left_hip_roll_in_hip =
-        -1.0 * (-1.0 * vector_left_hip_to_left_foot.y).atan2(-1.0 * vector_left_hip_to_left_foot.z);
-    let right_hip_roll_in_hip = -1.0
-        * (-1.0 * vector_right_hip_to_right_foot.y).atan2(-1.0 * vector_right_hip_to_right_foot.z);
+        -((-vector_left_hip_to_left_foot.y).atan2(-vector_left_hip_to_left_foot.z));
+    let right_hip_roll_in_hip =
+        -((-vector_right_hip_to_right_foot.y).atan2(-vector_right_hip_to_right_foot.z));
 
-    let left_hip_pitch_minus_alpha = (-1.0 * vector_left_hip_to_left_foot.x).atan2(
-        (vector_left_hip_to_left_foot.y.powi(2) + vector_left_hip_to_left_foot.z.powi(2)).sqrt()
-            * -1.0
+    let left_hip_pitch_minus_alpha = (-vector_left_hip_to_left_foot.x).atan2(
+        -((vector_left_hip_to_left_foot.y.powi(2) + vector_left_hip_to_left_foot.z.powi(2)).sqrt())
             * vector_left_hip_to_left_foot.z.signum(),
     );
-    let right_hip_pitch_minus_alpha = (-1.0 * vector_right_hip_to_right_foot.x).atan2(
-        (vector_right_hip_to_right_foot.y.powi(2) + vector_right_hip_to_right_foot.z.powi(2))
-            .sqrt()
-            * -1.0
+    let right_hip_pitch_minus_alpha = (-vector_right_hip_to_right_foot.x).atan2(
+        -((vector_right_hip_to_right_foot.y.powi(2) + vector_right_hip_to_right_foot.z.powi(2))
+            .sqrt())
             * vector_right_hip_to_right_foot.z.signum(),
     );
 
@@ -101,26 +99,26 @@ pub fn leg_angles(
         / (2.0 * lower_leg * left_height);
     let right_cos_minus_beta = (lower_leg.powi(2) + right_height.powi(2) - upper_leg.powi(2))
         / (2.0 * lower_leg * right_height);
-    let left_alpha = -1.0 * left_cos_minus_alpha.clamp(-1.0, 1.0).acos();
-    let right_alpha = -1.0 * right_cos_minus_alpha.clamp(-1.0, 1.0).acos();
-    let left_beta = -1.0 * left_cos_minus_beta.clamp(-1.0, 1.0).acos();
-    let right_beta = -1.0 * right_cos_minus_beta.clamp(-1.0, 1.0).acos();
+    let left_alpha = -(left_cos_minus_alpha.clamp(-1.0, 1.0).acos());
+    let right_alpha = -(right_cos_minus_alpha.clamp(-1.0, 1.0).acos());
+    let left_beta = -(left_cos_minus_beta.clamp(-1.0, 1.0).acos());
+    let right_beta = -(right_cos_minus_beta.clamp(-1.0, 1.0).acos());
 
     let left_leg = LegJoints {
         hip_yaw_pitch: left_hip_yaw_pitch_combined,
         hip_roll: left_hip_roll_in_hip + PI / 4.0,
         hip_pitch: left_hip_pitch_minus_alpha + left_alpha,
         knee_pitch: -left_alpha - left_beta,
         ankle_pitch: left_foot_rotation_c2.x.atan2(left_foot_rotation_c2.z) + left_beta,
-        ankle_roll: (-1.0 * left_foot_rotation_c2.y).asin(),
+        ankle_roll: (-left_foot_rotation_c2.y).asin(),
     };
     let right_leg = LegJoints {
         hip_yaw_pitch: left_hip_yaw_pitch_combined,
         hip_roll: right_hip_roll_in_hip - PI / 4.0,
         hip_pitch: right_hip_pitch_minus_alpha + right_alpha,
         knee_pitch: -right_alpha - right_beta,
         ankle_pitch: right_foot_rotation_c2.x.atan2(right_foot_rotation_c2.z) + right_beta,
-        ankle_roll: (-1.0 * right_foot_rotation_c2.y).asin(),
+        ankle_roll: (-right_foot_rotation_c2.y).asin(),
     };
 
     LowerBodyJoints {

crates/parameters/src/directory.rs

@@ -133,7 +133,7 @@ where
         to_value(parameters).map_err(DirectoryError::ParametersNotConvertedToJsonValue)?;
     let stored_parameters = to_value(
         deserialize::<Parameters>(&parameters_root, hardware_ids, true).map_err(|error| {
-            println!("{:?}", error);
+            println!("{error:?}");
             error
         })?,
     )

crates/source_analyzer/src/pretty.rs

@@ -18,7 +18,7 @@ pub trait ToWriterPretty {
 
 impl ToWriterPretty for String {
     fn to_writer_pretty(&self, writer: &mut impl Write) -> fmt::Result {
-        write!(writer, "{}", self)
+        write!(writer, "{self}")
     }
 }
 

crates/vision/src/line_detection/checks.rs

@@ -48,6 +48,7 @@ fn get_gradient(
     point: Point2<Pixel, u16>,
     gradient_sobel_stride: u32,
 ) -> Vector2<f32> {
+    #![allow(clippy::neg_multiply)]
     if point.x() < gradient_sobel_stride as u16
         || point.y() < gradient_sobel_stride as u16
         || point.x() > image.width() as u16 - 2 * gradient_sobel_stride as u16

tools/annotato/src/widgets/class_selector.rs

@@ -33,7 +33,7 @@ impl Widget for ClassSelector<'_> {
             .selected_text(format!("{:?}", self.currently_selected))
             .show_ui(ui, |ui| {
                 Class::list().into_iter().for_each(|class| {
-                    ui.selectable_value(self.currently_selected, class, format!("{:?}", class));
+                    ui.selectable_value(self.currently_selected, class, format!("{class:?}"));
                 });
             })
             .response

tools/pepsi/src/aliveness.rs

@@ -251,8 +251,7 @@ fn print_verbose(states: &AlivenessList) {
                     .expect("temperature array should not be empty");
 
                 format!(
-                    "{}°C / {}°C / {}°C  (minimum / maximum / median)",
-                    minimum_temperature, maximum_temperature, median_temperature
+                    "{minimum_temperature}°C / {maximum_temperature}°C / {median_temperature}°C  (minimum / maximum / median)"
                 )
             }
             None => unknown.clone(),

tools/pepsi/src/gammaray.rs

@@ -54,7 +54,7 @@ pub async fn gammaray(arguments: Arguments, repository: &Repository) -> Result<(
         |nao_address, progress_bar| async move {
             let nao = Nao::try_new_with_ping(nao_address.ip).await?;
             nao.flash_image(image_path, |msg| {
-                progress_bar.set_message(format!("Uploading image v{version}: {}", msg))
+                progress_bar.set_message(format!("Uploading image v{version}: {msg}"))
             })
             .await
             .wrap_err_with(|| format!("failed to flash image to {nao_address}"))?;

tools/pepsi/src/pre_game.rs

@@ -202,7 +202,7 @@ async fn setup_nao(
 
     progress.set_message("Uploading: ...");
     nao.upload(upload_directory, "hulk", !arguments.no_clean, |status| {
-        progress.set_message(format!("Uploading: {}", status))
+        progress.set_message(format!("Uploading: {status}"))
     })
     .await
     .wrap_err_with(|| format!("failed to upload binary to {nao_address}"))?;

tools/pepsi/src/recording.rs

@@ -28,6 +28,6 @@ where
 {
     let position = string
         .find('=')
-        .ok_or_else(|| format!("invalid KEY=value: no `=` found in `{}`", string))?;
+        .ok_or_else(|| format!("invalid KEY=value: no `=` found in `{string}`"))?;
     Ok((string[..position].parse()?, string[position + 1..].parse()?))
 }

tools/pepsi/src/upload.rs

@@ -78,7 +78,7 @@ async fn upload_with_progress(
 
     progress.set_message("Uploading: ...");
     nao.upload(upload_directory, "hulk", !arguments.no_clean, |status| {
-        progress.set_message(format!("Uploading: {}", status))
+        progress.set_message(format!("Uploading: {status}"))
     })
     .await
     .wrap_err_with(|| format!("failed to upload binary to {nao_address}"))?;

tools/twix/src/main.rs

@@ -670,7 +670,7 @@ impl egui_dock::TabViewer for TabViewer {
             Ok(panel) => panel.ui(ui),
 
             Err((error, value)) => {
-                ui.label(format!("Error loading panel: {}", error));
+                ui.label(format!("Error loading panel: {error}"));
                 ui.collapsing("JSON", |ui| {
                     let content = match serde_json::to_string_pretty(value) {
                         Ok(pretty_string) => pretty_string,
@@ -691,10 +691,8 @@ impl egui_dock::TabViewer for TabViewer {
 
     fn title(&mut self, tab: &mut Self::Tab) -> eframe::egui::WidgetText {
         match &mut tab.panel {
-            Ok(panel) => format!("{}", panel).into(),
-            Err((error, _value)) => {
-                WidgetText::from(format!("{}", error)).color(Color32::LIGHT_RED)
-            }
+            Ok(panel) => format!("{panel}").into(),
+            Err((error, _value)) => WidgetText::from(format!("{error}")).color(Color32::LIGHT_RED),
         }
     }
 

tools/twix/src/panels/automatic_camera_calibration_export.rs

@@ -111,8 +111,7 @@ impl Widget for &mut CameraCalibrationExportPanel {
                     .map(|primary_state| match primary_state {
                         PrimaryState::Calibration => ui.label("Calibration in progress"),
                         _ => ui.label(format!(
-                            "Not yet calibrated, primary state: {:?}",
-                            primary_state
+                            "Not yet calibrated, primary state: {primary_state:?}"
                         )),
                     });
             }

tools/twix/src/panels/look_at.rs

@@ -68,7 +68,7 @@ impl Widget for &mut LookAtPanel {
             let current_motion_command = match self.motion_command_buffer.get_last_value() {
                 Ok(Some(value)) => {
                     status_text_job.append(
-                        format!("Current Motion: {:?}.", value).as_str(),
+                        format!("Current Motion: {value:?}.").as_str(),
                         0.0,
                         TextFormat {
                             font_id: FontId::monospace(14.0),
@@ -139,7 +139,7 @@ impl Widget for &mut LookAtPanel {
                 }
                 Err(error) => {
                     status_text_job.append(
-                        format!("Field dimensions are not available: {}", error).as_str(),
+                        format!("Field dimensions are not available: {error}").as_str(),
                         leading_space,
                         error_format,
                     );