reformat the the code base based the linter-revisioned version in ruff-check branch

Author: xianglic

.ruff.toml

@@ -1,6 +1,11 @@
 target-version = "py310"
 exclude = ["*_pb2.py"]
 
+line-length = 100
+[format]
+indent-style = "space"
+quote-style = "double"
+
 [lint]
 select = [
     "E",   # pycodestyle

cnc/protocol/__init__.py

@@ -1,3 +1,3 @@
 # SPDX-FileCopyrightText: 2023 Carnegie Mellon University - Satyalab
 #
-# SPDX-License-Identifier: GPL-2.0-only
+# SPDX-License-Identifier: GPL-2.0-only

cnc/server/main.py

@@ -13,33 +13,34 @@
 DEFAULT_PORT = 9099
 DEFAULT_NUM_TOKENS = 2
 INPUT_QUEUE_MAXSIZE = 60
-SOURCE = 'cnc'
+SOURCE = "cnc"
 
 logging.basicConfig(level=logging.INFO)
 
 logger = logging.getLogger(__name__)
 
 
 def main():
-    parser = argparse.ArgumentParser(
-        formatter_class=argparse.ArgumentDefaultsHelpFormatter
-    )
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
     parser.add_argument(
         "-t", "--tokens", type=int, default=DEFAULT_NUM_TOKENS, help="number of tokens"
     )
- 
-    parser.add_argument(
-        "-p", "--port", type=int, default=DEFAULT_PORT, help="Set port number"
-    )
+
+    parser.add_argument("-p", "--port", type=int, default=DEFAULT_PORT, help="Set port number")
 
     parser.add_argument(
         "-q", "--queue", type=int, default=INPUT_QUEUE_MAXSIZE, help="Max input queue size"
     )
- 
+
     args, _ = parser.parse_known_args()
 
-    server_runner.run(websocket_port=args.port, zmq_address='tcp://*:5555', num_tokens=args.tokens,
-                  input_queue_maxsize=args.queue)
+    server_runner.run(
+        websocket_port=args.port,
+        zmq_address="tcp://*:5555",
+        num_tokens=args.tokens,
+        input_queue_maxsize=args.queue,
+    )
+
 
 if __name__ == "__main__":
     main()

cnc/server/swarm_controller.py

@@ -26,25 +26,25 @@
 logger.setLevel(logging.DEBUG)
 handler = logging.StreamHandler(sys.stdout)
 handler.setLevel(logging.DEBUG)
-formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s')
+formatter = logging.Formatter("%(asctime)s - %(levelname)s - %(message)s")
 handler.setFormatter(formatter)
 logger.addHandler(handler)
 
 # Set up the paths and variables for the compiler
-compiler_path = '/compiler'
-output_path = '/compiler/out/flightplan_'
-platform_path  = '/compiler/python/project'
+compiler_path = "/compiler"
+output_path = "/compiler/out/flightplan_"
+platform_path = "/compiler/python/project"
 
 
 def download_script(script_url):
     try:
         # Get the ZIP file name from the URL
-        filename = script_url.rsplit(sep='/')[-1]
-        logger.info(f'Writing {filename} to disk...')
-        
+        filename = script_url.rsplit(sep="/")[-1]
+        logger.info(f"Writing {filename} to disk...")
+
         # Download the ZIP file
         r = requests.get(script_url, stream=True)
-        with open(filename, mode='wb') as f:
+        with open(filename, mode="wb") as f:
             for chunk in r.iter_content(chunk_size=8192):
                 f.write(chunk)
 
@@ -53,177 +53,209 @@ def download_script(script_url):
         kml_file = None
 
         # Extract all contents of the ZIP file and remember .dsl and .kml filenames
-        with ZipFile(filename, 'r') as z:
+        with ZipFile(filename, "r") as z:
             z.extractall(path=compiler_path)
             for file_name in z.namelist():
-                if file_name.endswith('.dsl'):
+                if file_name.endswith(".dsl"):
                     dsl_file = file_name
-                elif file_name.endswith('.kml'):
+                elif file_name.endswith(".kml"):
                     kml_file = file_name
 
         # Log or return the results
         logger.info(f"Extracted DSL files: {dsl_file}")
         logger.info(f"Extracted KML files: {kml_file}")
-        
+
         return dsl_file, kml_file
 
     except Exception as e:
         logger.error(f"Error during download or extraction: {e}")
-        
+
+
 def compile_mission(dsl_file, kml_file, drone_list, alt, compiler_file):
     # Construct the full paths for the DSL and KML files
     dsl_file_path = os.path.join(compiler_path, dsl_file)
     kml_file_path = os.path.join(compiler_path, kml_file)
     jar_path = os.path.join(compiler_path, compiler_file)
     altitude = str(alt)
-    
+
     # Define the command and arguments
     command = [
         "java",
-        "-jar", jar_path,
-        "-d", drone_list,
-        "-s", dsl_file_path,
-        "-k", kml_file_path,
-        "-o", output_path,
-        "-p", platform_path,
-        "-a", altitude
+        "-jar",
+        jar_path,
+        "-d",
+        drone_list,
+        "-s",
+        dsl_file_path,
+        "-k",
+        kml_file_path,
+        "-o",
+        output_path,
+        "-p",
+        platform_path,
+        "-a",
+        altitude,
     ]
-    
+
     # Run the command
     logger.info(f"Running command: {' '.join(command)}")
     result = subprocess.run(command, check=True, capture_output=True, text=True)
-    
+
     # Log the output
     logger.info(f"Compilation output: {result.stdout}")
-    
+
     # Output the results
     logger.info("Compilation successful.")
-    
+
 
 def send_to_drone(msg, base_url, drone_list, cmd_front_cmdr_sock, redis):
     try:
         logger.info("Sending request to drone...")
-        # Send the command to each drone 
+        # Send the command to each drone
         for drone_id in drone_list:
             # check if the cmd is a mission
-            if (base_url):
+            if base_url:
                 # reconstruct the script url with the correct compiler output path
                 msg.cmd.script_url = f"{base_url}{output_path}{drone_id}.ms"
                 logger.info(f"script url:  {msg.cmd.script_url}")
-            
+
             # send the command to the drone
-            cmd_front_cmdr_sock.send_multipart([drone_id.encode('utf-8'), msg.SerializeToString()])
-            logger.info(f'Delivered request to drone {drone_id}:\n {text_format.MessageToString(msg)}')
-            
+            cmd_front_cmdr_sock.send_multipart([drone_id.encode("utf-8"), msg.SerializeToString()])
+            logger.info(
+                f"Delivered request to drone {drone_id}:\n {text_format.MessageToString(msg)}"
+            )
+
             # store the record in redis
             key = redis.xadd(
                 "commands",
-                {"commander": msg.commander_id, "drone": drone_id, "value": text_format.MessageToString(msg),}
+                {
+                    "commander": msg.commander_id,
+                    "drone": drone_id,
+                    "value": text_format.MessageToString(msg),
+                },
             )
             logger.debug(f"Updated redis under stream commands at key {key}")
     except Exception as e:
         logger.error(f"Error sending request to drone: {e}")
 
-    
+
 def listen_cmdrs(cmdr_sock, cmd_front_cmdr_sock, redis, alt, compiler_file):
     while True:
-        
         # Listen for incoming requests from cmdr
         req = cmdr_sock.recv()
         try:
             msg = cnc_pb2.Extras()
             msg.ParseFromString(req)
-            logger.info(f'Request received:\n{text_format.MessageToString(msg)}')
+            logger.info(f"Request received:\n{text_format.MessageToString(msg)}")
         except DecodeError:
-            cmdr_sock.send(b'Error decoding protobuf. Did you send a cnc_pb2?')
-            logger.info('Error decoding protobuf. Did you send a cnc_pb2?')
+            cmdr_sock.send(b"Error decoding protobuf. Did you send a cnc_pb2?")
+            logger.info("Error decoding protobuf. Did you send a cnc_pb2?")
             continue
-        
+
         # get the drone list
         try:
             drone_list_json = msg.cmd.for_drone_id
             drone_list = json.loads(drone_list_json)
             logger.info(f"drone list:  {drone_list}")
         except json.JSONDecodeError:
-            cmdr_sock.send(b'Error decoding drone list. Did you send a JSON list?')
-            logger.info('Error decoding drone list. Did you send a JSON list?')
+            cmdr_sock.send(b"Error decoding drone list. Did you send a JSON list?")
+            logger.info("Error decoding drone list. Did you send a JSON list?")
             continue
-            
+
         # Check if the command contains a mission and compile it if true
         base_url = None
-        if (msg.cmd.script_url):
+        if msg.cmd.script_url:
             # download the script
             script_url = msg.cmd.script_url
             logger.info(f"script url:  {script_url}")
             dsl, kml = download_script(script_url)
-            
+
             # compile the mission
             drone_list_revised = "&".join(drone_list)
             logger.info(f"drone list revised:  {drone_list_revised}")
             compile_mission(dsl, kml, drone_list_revised, alt, compiler_file)
-            
+
             # get the base url
             parsed_url = urlparse(script_url)
             base_url = f"{parsed_url.scheme}://{parsed_url.netloc}"
 
-            
         # send the command to the drone
         send_to_drone(msg, base_url, drone_list, cmd_front_cmdr_sock, redis)
-            
 
-             
-        cmdr_sock.send(b'ACK')
-        logger.info('Sent ACK to commander')
+        cmdr_sock.send(b"ACK")
+        logger.info("Sent ACK to commander")
+
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument('-d', '--droneport', type=int, default=5003, help='Specify port to listen for drone requests [default: 5003]')
-    parser.add_argument('-c', '--cmdrport', type=int, default=6001, help='Specify port to listen for commander requests [default: 6001]')
     parser.add_argument(
-        "-r", "--redis", type=int, default=6379, help="Set port number for redis connection [default: 6379]"
+        "-d",
+        "--droneport",
+        type=int,
+        default=5003,
+        help="Specify port to listen for drone requests [default: 5003]",
     )
     parser.add_argument(
-        "-a", "--auth", default="", help="Share key for redis user."
+        "-c",
+        "--cmdrport",
+        type=int,
+        default=6001,
+        help="Specify port to listen for commander requests [default: 6001]",
     )
+    parser.add_argument(
+        "-r",
+        "--redis",
+        type=int,
+        default=6379,
+        help="Set port number for redis connection [default: 6379]",
+    )
+    parser.add_argument("-a", "--auth", default="", help="Share key for redis user.")
     parser.add_argument(
         "--altitude", type=int, default=15, help="base altitude for the drones mission"
     )
     parser.add_argument(
-        "--compiler_file", default='compile-1.5-full.jar', help="compiler file name"
-    )   
+        "--compiler_file", default="compile-1.5-full.jar", help="compiler file name"
+    )
     args = parser.parse_args()
-    
+
     # Set the altitude
     alt = args.altitude
     logger.info(f"Starting control plane with altitude {alt}...")
-    
+
     compiler_file = args.compiler_file
     logger.info(f"Using compiler file: {compiler_file}")
-    
+
     # Connect to redis
-    r = redis.Redis(host='redis', port=args.redis, username='steeleagle', password=f'{args.auth}',decode_responses=True)
+    r = redis.Redis(
+        host="redis",
+        port=args.redis,
+        username="steeleagle",
+        password=f"{args.auth}",
+        decode_responses=True,
+    )
     logger.info(f"Connected to redis on port {args.redis}...")
 
     # Set up the commander socket
     ctx = zmq.Context()
     cmdr_sock = ctx.socket(zmq.REP)
-    cmdr_sock.bind(f'tcp://*:{args.cmdrport}')
-    logger.info(f'Listening on tcp://*:{args.cmdrport} for commander requests...')
+    cmdr_sock.bind(f"tcp://*:{args.cmdrport}")
+    logger.info(f"Listening on tcp://*:{args.cmdrport} for commander requests...")
 
     # Set up the drone socket
     async_ctx = zmq.asyncio.Context()
     cmd_front_cmdr_sock = async_ctx.socket(zmq.ROUTER)
     cmd_front_cmdr_sock.setsockopt(zmq.ROUTER_HANDOVER, 1)
-    cmd_front_cmdr_sock.bind(f'tcp://*:{args.droneport}')
-    logger.info(f'Listening on tcp://*:{args.droneport} for drone requests...')
-    
+    cmd_front_cmdr_sock.bind(f"tcp://*:{args.droneport}")
+    logger.info(f"Listening on tcp://*:{args.droneport} for drone requests...")
+
     # Listen for incoming requests from cmdr
     try:
         listen_cmdrs(cmdr_sock, cmd_front_cmdr_sock, r, alt, compiler_file)
     except KeyboardInterrupt:
-        logger.info('Shutting down...')
+        logger.info("Shutting down...")
         cmdr_sock.close()
         cmd_front_cmdr_sock.close()
 
-if __name__ == '__main__':
-    main()
+
+if __name__ == "__main__":
+    main()