Various fixes for issues flagged by the 'ruff check' linter.

.ruff.toml

@@ -0,0 +1,22 @@
+target-version = "py310"
+exclude = ["*_pb2.py"]
+
+[lint]
+select = [
+    "E",   # pycodestyle
+    "F",   # Pyflakes
+    "UP",  # pyupgrade
+    "B",   # flake8-bugbear
+    "SIM", # flake8-simplify
+    "I",   # isort
+]
+ignore = [
+    "B905", # new 'strict' argument for zip in python3.10
+    "E501", # ignore line length errors for now
+    "E701", # multiple statements on one line, will be fixed by format
+    "E722", # do not use bare except
+    "E741", # ambiguous variable name (seems to trigger on l, I, and such)
+    "F841", # unused local variable
+    "SIM105", # contextlib.suppress is 3x slower than try-except
+    "SIM115", # use context manager to open files (only works in some places)
+]

cnc/server/main.py

@@ -5,9 +5,10 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
-from gabriel_server.network_engine import server_runner
-import logging
 import argparse
+import logging
+
+from gabriel_server.network_engine import server_runner
 
 DEFAULT_PORT = 9099
 DEFAULT_NUM_TOKENS = 2

cnc/server/swarm_controller.py

@@ -5,22 +5,22 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
+import argparse
 import json
+import logging
 import os
 import subprocess
 import sys
-import logging
+from urllib.parse import urlparse
 from zipfile import ZipFile
-from google.protobuf.message import DecodeError
-from google.protobuf import text_format
+
+import redis
 import requests
-from cnc_protocol import cnc_pb2
-import argparse
 import zmq
 import zmq.asyncio
-import redis
-from urllib.parse import urlparse
-
+from cnc_protocol import cnc_pb2
+from google.protobuf import text_format
+from google.protobuf.message import DecodeError
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.DEBUG)
@@ -102,7 +102,7 @@ def compile_mission(dsl_file, kml_file, drone_list, alt, compiler_file):
 
 def send_to_drone(msg, base_url, drone_list, cmd_front_cmdr_sock, redis):
     try:
-        logger.info(f"Sending request to drone...")
+        logger.info("Sending request to drone...")
         # Send the command to each drone 
         for drone_id in drone_list:
             # check if the cmd is a mission
@@ -117,7 +117,7 @@ def send_to_drone(msg, base_url, drone_list, cmd_front_cmdr_sock, redis):
 
             # store the record in redis
             key = redis.xadd(
-                f"commands",
+                "commands",
                 {"commander": msg.commander_id, "drone": drone_id, "value": text_format.MessageToString(msg),}
             )
             logger.debug(f"Updated redis under stream commands at key {key}")
@@ -136,7 +136,7 @@ def listen_cmdrs(cmdr_sock, cmd_front_cmdr_sock, redis, alt, compiler_file):
             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(f'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
@@ -146,7 +146,7 @@ def listen_cmdrs(cmdr_sock, cmd_front_cmdr_sock, redis, alt, compiler_file):
             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(f'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

cnc/server/telemetry.py

@@ -5,10 +5,11 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
+import argparse
+import logging
+
 from gabriel_server.network_engine import engine_runner
 from telemetry_engine import TelemetryEngine
-import logging
-import argparse
 
 SOURCE = 'telemetry'
 

cnc/server/telemetry_engine.py

@@ -5,17 +5,18 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
-import time
 import datetime
 import logging
-from gabriel_server import cognitive_engine
-from gabriel_protocol import gabriel_pb2
-from cnc_protocol import cnc_pb2
-import redis
 import os
-from PIL import Image
+import time
+
 import cv2
 import numpy as np
+import redis
+from cnc_protocol import cnc_pb2
+from gabriel_protocol import gabriel_pb2
+from gabriel_server import cognitive_engine
+from PIL import Image
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.DEBUG)
@@ -34,7 +35,7 @@ def __init__(self, args):
             os.makedirs(self.storage_path+"/raw")
         except FileExistsError:
             logger.info("Images directory already exists.")
-        logger.info("Storing detection images at {}".format(self.storage_path))
+        logger.info(f"Storing detection images at {self.storage_path}")
         self.current_path = None
         self.publish = args.publish
 
@@ -56,7 +57,7 @@ def handle(self, input_frame):
         result = None
 
         if input_frame.payload_type == gabriel_pb2.PayloadType.TEXT:
-            if extras.drone_id is not "":
+            if extras.drone_id != "":
                 if extras.registering:
                     logger.info(f"Drone [{extras.drone_id}] connected.")
                     if not os.path.exists(f"{self.storage_path}/raw/{extras.drone_id}"):
@@ -69,7 +70,7 @@ def handle(self, input_frame):
 
                 result = gabriel_pb2.ResultWrapper.Result()
                 result.payload_type = gabriel_pb2.PayloadType.TEXT
-                result.payload = "Telemetry updated.".encode(encoding="utf-8")
+                result.payload = b"Telemetry updated."
                 self.updateDroneStatus(extras)
 
         elif input_frame.payload_type == gabriel_pb2.PayloadType.IMAGE:

cnc/server/test/streaming_test_socket.py

@@ -2,13 +2,13 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
+import argparse
 import socket
+import time
+
 import cv2
 import numpy as np
-import time
 import zmq
-import argparse
-import sys
 
 HOST=''
 PORT=8485
@@ -90,8 +90,7 @@ def _main():
                 now = time.time()
                 if now - lastprint > 5:
                     print(
-                        "avg fps: {0:.2f}".format(
-                            (frames_received - lastcount) / 5)
+                        f"avg fps: {(frames_received - lastcount) / 5:.2f}"
                         )
                     print()
                     lastcount = frames_received

cnc/streamlit/commander.py

@@ -2,22 +2,17 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
-import streamlit as st
-import pandas as pd
-from streamlit_autorefresh import st_autorefresh
+import datetime
+import os
+
 import folium
-from folium.plugins import Draw
-from streamlit_folium import st_folium
-from st_keypressed import st_keypressed
-import streamlit_antd_components as sac
 import redis
-import os
-from cnc_protocol import cnc_pb2
+import streamlit as st
 import zmq
-import time
-import numpy as np
-import cv2
-import datetime
+from cnc_protocol import cnc_pb2
+from st_keypressed import st_keypressed
+from streamlit_autorefresh import st_autorefresh
+from streamlit_folium import st_folium
 
 st.set_page_config(
     page_title="Commander",
@@ -193,7 +188,7 @@ def rth():
     )
 
     if st.session_state.manual_control:
-        st.subheader(f":blue[Manual Control Enabled]")
+        st.subheader(":blue[Manual Control Enabled]")
         #st.subheader(":red[Manual Speed Controls]", divider="gray")
         st.sidebar.slider(
             key="pitch_speed",
@@ -228,9 +223,9 @@ def rth():
             step=5,
         )
     elif st.session_state.rth_sent:
-        st.subheader(f":orange[Return to Home Initiated]")
+        st.subheader(":orange[Return to Home Initiated]")
     elif st.session_state.script_file is not None:
-        st.subheader(f":violet[Autonomous Mode Enabled]")
+        st.subheader(":violet[Autonomous Mode Enabled]")
 
 
 with c2:
@@ -347,7 +342,7 @@ def rth():
 
     #st.write(f":keyboard: {st.session_state.key_pressed}")
     st.session_state.key_pressed = st_keypressed()
-    if st.session_state.manual_control and st.session_state.selected_drone != None:
+    if st.session_state.manual_control and st.session_state.selected_drone is not None:
         req = cnc_pb2.Extras()
         req.commander_id = os.uname()[1]
         req.cmd.for_drone_id = st.session_state.selected_drone

cnc/streamlit/commander_helper.py

@@ -5,15 +5,14 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
-import numpy as np
-from gabriel_protocol import gabriel_pb2
-from gabriel_client.websocket_client import ProducerWrapper, WebsocketClient
+import argparse
 import logging
+import os
+
 import zmq
 from cnc_protocol import cnc_pb2
-import argparse
-import os
-import asyncio
+from gabriel_client.websocket_client import ProducerWrapper, WebsocketClient
+from gabriel_protocol import gabriel_pb2
 
 logger = logging.getLogger(__name__)
 
@@ -49,7 +48,7 @@ async def producer():
 
             extras = cnc_pb2.Extras()
             extras.commander_id = self.commander_id
-            if command != None:
+            if command is not None:
                 extras.cmd.for_drone_id = command["drone_id"]
                 if "kill" in command:
                     extras.cmd.halt = True

cnc/streamlit/overview.py

@@ -2,17 +2,26 @@
 #
 # SPDX-License-Identifier: GPL-2.0-only
 
+import json
 import os
 import time
-import json
 from zipfile import ZipFile
-from cnc_protocol import cnc_pb2
+
 import folium
 import streamlit as st
-from streamlit_folium import st_folium
+from cnc_protocol import cnc_pb2
 from folium.plugins import MiniMap
-from util import stream_to_dataframe, connect_redis, connect_zmq, get_drones, menu, COLORS, authenticated
 from st_keypressed import st_keypressed
+from streamlit_folium import st_folium
+from util import (
+    COLORS,
+    authenticated,
+    connect_redis,
+    connect_zmq,
+    get_drones,
+    menu,
+    stream_to_dataframe,
+)
 
 if "map_server" not in st.session_state:
     st.session_state.map_server = "Google Hybrid"
@@ -69,7 +78,7 @@ def change_center():
                 f"telemetry.{st.session_state.tracking_selection}", "+", "-", 1
             )
         )
-        for index, row in df.iterrows():
+        for _index, row in df.iterrows():
             st.session_state.center = [row["latitude"], row["longitude"]]
 
 
@@ -132,8 +141,7 @@ def update_imagery():
     drone_list.append(hsv_header)
     tabs = st.tabs(drone_list)
 
-    i = 0
-    for d in drone_list:
+    for i, d in enumerate(drone_list):
         with tabs[i]:
             if d == detected_header:
                st.image(f"http://{st.secrets.webserver}/detected/latest.jpg?a={time.time()}", use_container_width=True)
@@ -143,7 +151,7 @@ def update_imagery():
                 st.image(f"http://{st.secrets.webserver}/detected/hsv.jpg?a={time.time()}", use_container_width=True)
             else:
                 st.image(f"http://{st.secrets.webserver}/raw/{d}/latest.jpg?a={time.time()}", use_container_width=True)
-        i += 1
+
 @st.fragment(run_every="1s")
 def draw_map():
     m = folium.Map(
@@ -164,9 +172,8 @@ def draw_map():
         last_update = (int(df.index[0].split("-")[0])/1000)
         if time.time() - last_update <  st.session_state.inactivity_time * 60: # minutes -> seconds
             coords = []
-            i = 0
             drone_name = k.split(".")[-1]
-            for index, row in df.iterrows():
+            for i, (_index, row) in enumerate(df.iterrows()):
                 if i % 10 == 0:
                     coords.append([row["latitude"], row["longitude"]])
                 if i == 0:
@@ -203,8 +210,6 @@ def draw_map():
                         )
                     )
 
-                i += 1
-
             ls = folium.PolyLine(locations=coords, color=COLORS[marker_color])
             ls.add_to(tracks)
             marker_color += 1