8000 Add type hinting by ArchdukeTim · Pull Request #470 · robotpy/robotpy-wpilib · GitHub
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Add type hinting #470

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merged 15 commits into from
Dec 31, 2018
Merged

Add type hinting #470

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f05cc79
Add PEP484 type hints
ArchdukeTim May 25, 2018
f7afd2d
Remove unnecessaary parentheses
ArchdukeTim Dec 18, 2018
70f6283
Add Optional type to None defaults
ArchdukeTim Dec 18, 2018
ea88fcc
Remove simport typehint
ArchdukeTim Dec 19, 2018
784caa4
Add type to Callable
ArchdukeTim Dec 19, 2018
edcb1a2
Remove sensorbase imports
ArchdukeTim Dec 19, 2018
ab5a2b9
Found more incorrect type hints
ArchdukeTim Dec 19, 2018
1261c77
Nitpick
ArchdukeTim Dec 19, 2018
bee0d60
Use generic for default values
ArchdukeTim Dec 20, 2018
13b7f22
Add generic to sendablechooser. Put vararg type hints back
ArchdukeTim Dec 21, 2018
4f96859
Use Iterables for all NT array types
ArchdukeTim Dec 22, 2018
eff1357
Nitpick
ArchdukeTim Dec 19, 2018
564670d
Use variable length tuple type hint
ArchdukeTim Dec 26, 2018
586d216
Covariance for SendableChooser
ArchdukeTim Dec 26, 2018
9d500cf
Use Any type for sendablechooser
ArchdukeTim Dec 30, 2018
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30 changes: 15 additions & 15 deletions wpilib/wpilib/adxl345_i2c.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,13 @@
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
# ----------------------------------------------------------------------------
from typing import Tuple, Optional

import hal

from .interfaces import Accelerometer
from .i2c import I2C
from .sendablebase import SendableBase
from .interfaces import Accelerometer
from .sendablebuilder import SendableBuilder

__all__ = ["ADXL345_I2C"]

Expand Down Expand Up @@ -44,13 +45,13 @@ class Axes:
kY = 0x02
kZ = 0x04

def __init__(self, port, range, address=None):
def __init__(
self, port: I2C.Port, range: Range, address: Optional[int] = None
) -> None:
"""Constructor.

:param port: The I2C port the accelerometer is attached to.
:type port: :class:`.I2C.Port`
:param range: The range (+ or -) that the accelerometer will measure.
:type range: :class:`.ADXL345_I2C.Range`
:param address: the I2C address of the accelerometer (0x1D or 0x53)
"""
if address is None:
Expand All @@ -69,18 +70,17 @@ def __init__(self, port, range, address=None):

self.setName("ADXL345_I2C", port)

def close(self):
def close(self) -> None:
self.i2c.close()
super().close()

# Accelerometer interface

def setRange(self, range):
def setRange(self, range: Range) -> None:
"""Set the measuring range of the accelerometer.

:param range: The maximum acceleration, positive or negative, that
the accelerometer will measure.
:type range: :class:`ADXL345_I2C.Range`
"""
if range == self.Range.k2G:
value = 0
Expand All @@ -96,28 +96,28 @@ def setRange(self, range):
# Specify the data format to read
self.i2c.write(self.kDataFormatRegister, self.kDataFormat_FullRes | value)

def getX(self):
def getX(self) -> float:
"""Get the x axis acceleration

:returns: The acceleration along the x axis in g-forces
"""
return self.getAcceleration(self.Axes.kX)

def getY(self):
def getY(self) -> float:
"""Get the y axis acceleration

:returns: The acceleration along the y axis in g-forces
"""
return self.getAcceleration(self.Axes.kY)

def getZ(self):
def getZ(self) -> float:
"""Get the z axis acceleration

:returns: The acceleration along the z axis in g-forces
"""
return self.getAcceleration(self.Axes.kZ)

def getAcceleration(self, axis):
def getAcceleration(self, axis: Axes) -> float:
"""Get the acceleration of one axis in Gs.

:param axis: The axis to read from.
Expand All @@ -128,7 +128,7 @@ def getAcceleration(self, axis):
rawAccel = (data[1] << 8) | data[0]
return rawAccel * self.kGsPerLSB

def getAccelerations(self):
def getAccelerations(self) -> Tuple[float, float, float]:
"""Get the acceleration of all axes in Gs.

:returns: X,Y,Z tuple of acceleration measured on all axes of the
Expand All @@ -147,13 +147,13 @@ def getAccelerations(self):
rawData[2] * self.kGsPerLSB,
)

def _updateValues(self):
def _updateValues(self) -> None:
data = self.getAccelerations()
self._entryX.setDouble(data[0])
self._entryY.setDouble(data[1])
self._entryZ.setDouble(data[2])

def initSendable(self, builder):
def initSendable(self, builder: SendableBuilder) -> None:
builder.setSmartDashboardType("3AxisAccelerometer")
self._entryX = builder.getEntry("X")
self._entryY = builder.getEntry("Y")
Expand Down
25 changes: 12 additions & 13 deletions wpilib/wpilib/adxl345_spi.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,14 @@
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
# ----------------------------------------------------------------------------
from typing import Tuple

import hal

from .interfaces import Accelerometer
from .spi import SPI
from .sendablebase import SendableBase
from .sendablebuilder import SendableBuilder

__all__ = ["ADXL345_SPI"]

Expand Down Expand Up @@ -48,14 +50,12 @@ class Axes:
kY = 0x02
kZ = 0x04

def __init__(self, port, range):
def __init__(self, port: SPI.Port, range: Range) -> None:
"""Constructor. Use this when the device is the first/only device on
the bus

:param port: The SPI port that the accelerometer is connected to
:type port: :class:`.SPI.Port`
:param range: The range (+ or -) that the accelerometer will measure.
:type range: :class:`.ADXL345_SPI.Range`
"""
self.spi = SPI(port)
self.spi.setClockRate(500000)
Expand All @@ -75,18 +75,17 @@ def __init__(self, port, range):

self.setName("ADXL345_SPI", port)

def close(self):
def close(self) -> None:
self.spi.close()
super().close()

# Accelerometer interface

def setRange(self, range):
def setRange(self, range: Range) -> None:
"""Set the measuring range of the accelerometer.

:param range: The maximum acceleration, positive or negative, that
the accelerometer will measure.
:type range: :class:`ADXL345_SPI.Range`
"""
if range == self.Range.k2G:
value = 0
Expand All @@ -101,28 +100,28 @@ def setRange(self, range):

self.spi.write([self.kDataFormatRegister, self.kDataFormat_FullRes | value])

def getX(self):
def getX(self) -> float:
"""Get the x axis acceleration

:returns: The acceleration along the x axis in g-forces
"""
return self.getAcceleration(self.Axes.kX)

def getY(self):
def getY(self) -> float:
"""Get the y axis acceleration

:returns: The acceleration along the y axis in g-forces
"""
return self.getAcceleration(self.Axes.kY)

def getZ(self):
def getZ(self) -> float:
"""Get the z axis acceleration

:returns: The acceleration along the z axis in g-forces
"""
return self.getAcceleration(self.Axes.kZ)

def getAcceleration(self, axis):
def getAcceleration(self, axis: Axes) -> float:
"""Get the acceleration of one axis in Gs.

:param axis: The axis to read from.
Expand All @@ -138,7 +137,7 @@ def getAcceleration(self, axis):
rawAccel = (data[2] << 8) | data[1]
return rawAccel * self.kGsPerLSB

def getAccelerations(self):
def getAccelerations(self) -> Tuple[float, float, float]:
"""Get the acceleration of all axes in Gs.

:returns: X,Y,Z tuple of acceleration measured on all axes of the
Expand All @@ -161,13 +160,13 @@ def getAccelerations(self):
)

# Live Window code, only does anything if live window is activated.
def _updateValues(self):
def _updateValues(self) -> None:
data = self.getAccelerations()
self._entryX.setDouble(data[0])
self._entryY.setDouble(data[1])
self._entryZ.setDouble(data[2])

def initSendable(self, builder):
def initSendable(self, builder: SendableBuilder) -> None:
builder.setSmartDashboardType("3AxisAccelerometer")
self._entryX = builder.getEntry("X")
self._entryY = builder.getEntry("Y")
Expand Down
25 changes: 12 additions & 13 deletions wpilib/wpilib/adxl362.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,15 @@
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
# ----------------------------------------------------------------------------
from typing import Tuple, Optional

import hal

from .driverstation import DriverStation
from .interfaces import Accelerometer
from .spi import SPI
from .sendablebase import SendableBase
from .sendablebuilder import SendableBuilder

__all__ = ["ADXL362"]

Expand Down Expand Up @@ -49,13 +51,11 @@ class Axes:
kY = 0x02
kZ = 0x04

def __init__(self, range, port=None):
def __init__(self, range: Range, port: Optional[SPI.Port] = None) -> None:
"""Constructor.

:param range: The range (+ or -) that the accelerometer will measure.
:type range: :class:`.ADXL362.Range`
:param port: The SPI port that the accelerometer is connected to
:type port: :class:`.SPI.Port`
"""
if port is None:
port = SPI.Port.kOnboardCS1
Expand Down Expand Up @@ -93,20 +93,19 @@ def __init__(self, range, port=None):

self.setName("ADXL362", port)

def close(self):
def close(self) -> None:
if self.spi:
self.spi.close()
self.spi = None
super().close()

# Accelerometer interface

def setRange(self, range):
def setRange(self, range: Range) -> None:
"""Set the measuring range of the accelerometer.

:param range: The maximum acceleration, positive or negative, that
the accelerometer will measure.
:type range: :class:`ADXL362.Range`
"""
if not self.spi:
return
Expand All @@ -128,28 +127,28 @@ def setRange(self, range):
[self.kRegWrite, self.kFilterCtlRegister, self.kFilterCtl_ODR_100Hz | value]
)

def getX(self):
def getX(self) -> float:
"""Get the x axis acceleration

:returns: The acceleration along the x axis in g-forces
"""
return self.getAcceleration(self.Axes.kX)

def getY(self):
def getY(self) -> float:
"""Get the y axis acceleration

:returns: The acceleration along the y axis in g-forces
"""
return self.getAcceleration(self.Axes.kY)

def getZ(self):
def getZ(self) -> float:
"""Get the z axis acceleration

:returns: The acceleration along the z axis in g-forces
"""
return self.getAcceleration(self.Axes.kZ)

def getAcceleration(self, axis):
def getAcceleration(self, axis: Axes) -> float:
"""Get the acceleration of one axis in Gs.

:param axis: The axis to read from.
Expand All @@ -164,7 +163,7 @@ def getAcceleration(self, axis):
rawAccel = (data[2] << 8) | data[1]
return rawAccel * self.gsPerLSB

def getAccelerations(self):
def getAccelerations(self) -> Tuple[float, float, float]:
"""Get the acceleration of all axes in Gs.

:returns: X,Y,Z tuple of acceleration measured on all axes in Gs.
Expand All @@ -189,13 +188,13 @@ def getAccelerations(self):
rawData[2] * self.gsPerLSB,
)

def _updateValues(self):
def _updateValues(self) -> None:
data = self.getAccelerations()
self._entryX.setDouble(data[0])
self._entryY.setDouble(data[1])
self._entryZ.setDouble(data[2])

def initSendable(self, builder):
def initSendable(self, builder: SendableBuilder) -> None:
builder.setSmartDashboardType("3AxisAccelerometer")
self._entryX = builder.getEntry("X")
self._entryY = builder.getEntry("Y")
Expand Down
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