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

.github/workflows/build-vehicle.yml

@@ -7,6 +7,7 @@ on:
       - '.github/workflows/build-vehicle.yml'
       - '.github/workflows/deploy-docker-img.yml'
       - 'backend/server/steeleagle-dsl/python/interface/**'
+      - 'backend/server/steeleagle-dsl'
       - 'protocol/**'
       - 'vehicle/**'
 

.ruff.toml

@@ -0,0 +1,17 @@
+target-version = "py310"
+exclude = ["*_pb2.py", "*_pb2.pyi"]
+
+[lint]
+select = [
+  "E4",     # pycodestyle subset
+  "E7",     # pycodestyle subset
+  "E9",     # pycodestyle subset
+  "F",      # pyflakes
+  "I",      # isort
+  "UP",     # pyupgrade
+]
+ignore = [
+  "E722",   # do not use bare except
+  "E741",   # ambiguous variable name (seems to trigger on l, I, and such)
+  "F841",   # unused local variable
+]

backend/server/docker-compose.yml

@@ -7,7 +7,6 @@
 # ${FACE_THRESHOLD} and ${API_KEY} should
 # reside in a .env file along side docker-compose.yaml
 
-version: '2.3'
 services:
   gabriel-server:
     image: cmusatyalab/gabriel-server
@@ -21,7 +20,7 @@ services:
       - cnc-net
 
   telemetry-engine:
-    image: cmusatyalab/steeleagle-telemetry-engine
+    image: cmusatyalab/steeleagle-telemetry-engine:${TAG}
     container_name: telemetry-engine
     restart: unless-stopped
     privileged: true
@@ -37,7 +36,7 @@ services:
       - PYTHONPATH=/protocol
 
   swarm-controller:
-    image: cmusatyalab/steeleagle-swarm-controller
+    image: cmusatyalab/steeleagle-swarm-controller:${TAG}
     container_name: swarm-controller
     restart: unless-stopped
     ports:
@@ -116,7 +115,7 @@ services:
         #    - WEBSERVER=${WEBSERVER_URL}:${HTTP_PORT}
 
   obstacle-engine:
-    image: cmusatyalab/steeleagle-vision-engines
+    image: cmusatyalab/steeleagle-vision-engines:${TAG}
     container_name: obstacle-engine
     restart: unless-stopped
     privileged: true
@@ -145,7 +144,7 @@ services:
     #  - CUDA_VISIBLE_DEVICES=1 #set this if you want to force CPU only
 
   object-engine:
-    image: cmusatyalab/steeleagle-vision-engines
+    image: cmusatyalab/steeleagle-vision-engines:${TAG}
     container_name: object-engine
     restart: unless-stopped
     privileged: true

backend/server/engines/avoidance/depth.py

@@ -18,64 +18,87 @@
 #   limitations under the License.
 #
 #
-from gabriel_server.network_engine import engine_runner
-from obstacle_avoidance_engine import MidasAvoidanceEngine, Metric3DAvoidanceEngine
-import logging
 import argparse
+import logging
+
+from gabriel_server.network_engine import engine_runner
+from obstacle_avoidance_engine import Metric3DAvoidanceEngine, MidasAvoidanceEngine
 from util.utils import setup_logging
 
-SOURCE = 'openscout'
+SOURCE = "openscout"
 
 logger = logging.getLogger(__name__)
 
+
 def main():
     setup_logging(logger)
     parser = argparse.ArgumentParser(
         formatter_class=argparse.ArgumentDefaultsHelpFormatter
     )
 
-    parser.add_argument(
-        "-p", "--port", type=int, default=9099, help="Set port number"
-    )
+    parser.add_argument("-p", "--port", type=int, default=9099, help="Set port number")
 
     parser.add_argument(
-        "-m", "--model", default="DPT_Large", help="MiDaS model. Valid models are ['DPT_Large', 'DPT_Hybrid', 'MiDaS_small']"
+        "-m",
+        "--model",
+        default="DPT_Large",
+        help="MiDaS model. Valid models are ['DPT_Large', 'DPT_Hybrid', 'MiDaS_small']",
     )
 
     parser.add_argument(
-        "-r", "--threshold", type=int, default=190, help="Depth threshold for filtering."
+        "-r",
+        "--threshold",
+        type=int,
+        default=190,
+        help="Depth threshold for filtering.",
     )
 
     parser.add_argument(
-        "-s", "--store", action="store_true", default=False, help="Store images with heatmap"
+        "-s",
+        "--store",
+        action="store_true",
+        default=False,
+        help="Store images with heatmap",
     )
 
     parser.add_argument(
-        "-g", "--gabriel",  default="tcp://gabriel-server:5555", help="Gabriel server endpoint."
+        "-g",
+        "--gabriel",
+        default="tcp://gabriel-server:5555",
+        help="Gabriel server endpoint.",
     )
 
     parser.add_argument(
-        "-src", "--source",  default=SOURCE, help="Source for engine to register with."
+        "-src", "--source", default=SOURCE, help="Source for engine to register with."
     )
 
     parser.add_argument(
-        "-f", "--faux",  action="store_true", default=False, help="Generate faux vectors using the file specfied instead of results from MiDaS."
+        "-f",
+        "--faux",
+        action="store_true",
+        default=False,
+        help="Generate faux vectors using the file specfied instead of results from MiDaS.",
     )
 
     parser.add_argument(
-        "-R", "--redis", type=int, default=6379, help="Set port number for redis connection [default: 6379]"
+        "-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("-a", "--auth", default="", help="Share key for redis user.")
 
     parser.add_argument(
         "-i", "--roi", type=int, default=190, help="Depth threshold for filtering."
     )
 
     parser.add_argument(
-        "--metric3d", action="store_true", default=False, help="Use Metric3D for avoidance"
+        "--metric3d",
+        action="store_true",
+        default=False,
+        help="Use Metric3D for avoidance",
     )
 
     args, _ = parser.parse_known_args()
@@ -87,7 +110,13 @@ def engine_setup():
             engine = MidasAvoidanceEngine(args)
         return engine
 
-    engine_runner.run(engine=engine_setup(), source_name=args.source, server_address=args.gabriel, all_responses_required=True)
+    engine_runner.run(
+        engine=engine_setup(),
+        source_name=args.source,
+        server_address=args.gabriel,
+        all_responses_required=True,
+    )
+
 
 if __name__ == "__main__":
     main()