Merge branch 'main' into More-Graph-Changes

.github/workflows/linter_check.yml

@@ -0,0 +1,36 @@
+name: Lint Check
+
+on:
+  # Trigger the workflow on push to main or any pull request.
+  push:
+    branches:
+      - main
+  pull_request:
+
+permissions: { }
+
+jobs:
+  run-linters:
+    name: Lint
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: read
+      packages: read
+      # To report GitHub Actions status checks
+      statuses: write
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Super-linter
+        uses: super-linter/[email protected]  # x-release-please-version
+        env:
+          VALIDATE_ALL_CODEBASE: true
+          VALIDATE_PYTHON_FLAKE8: true
+          VALIDATE_PYTHON_RUFF: true
+          # To report GitHub Actions status checks
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/trufflehog_scan.yml

@@ -0,0 +1,24 @@
+name: Trufflehog Scan
+
+on:
+  # Trigger the workflow on push to main or any pull request.
+  push:
+    branches:
+      - main
+  pull_request:
+
+jobs:
+  run-scan:
+    name: Run scan
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Secret Scanning
+      uses: trufflesecurity/trufflehog@main
+      with:
+        extra_args: --only-verified

README.md

@@ -2,6 +2,8 @@
 
 The official NASA Lunabotics 2024 repository for University of Minnesota Robotics.
 
+[![Lint Check](https://github.com/GOFIRST-Robotics/Lunabotics-2024/actions/workflows/linter_check.yml/badge.svg)](https://github.com/GOFIRST-Robotics/Lunabotics-2024/actions/workflows/linter_check.yml) [![Trufflehog Scan](https://github.com/GOFIRST-Robotics/Lunabotics-2024/actions/workflows/trufflehog_scan.yml/badge.svg)](https://github.com/GOFIRST-Robotics/Lunabotics-2024/actions/workflows/trufflehog_scan.yml)
+
 ```mermaid
 ---
 title: Connectivity Chart

src/apriltag/launch/apriltag_launch.py

@@ -17,7 +17,10 @@ def generate_launch_description():
         plugin="nvidia::isaac_ros::apriltag::AprilTagNode",
         name="isaac_ros_apriltag",
         namespace="",
-        remappings=[("image", "zed2i/zed_node/left/image_rect_color_rgb"), ("camera_info", "zed2i/zed_node/left/camera_info")],
+        remappings=[
+            ("image", "zed2i/zed_node/left/image_rect_color_rgb"),
+            ("camera_info", "zed2i/zed_node/left/camera_info"),
+        ],
     )
 
     image_format_converter_node_left = ComposableNode(
@@ -29,7 +32,10 @@ def generate_launch_description():
                 "encoding_desired": "rgb8",
             }
         ],
-        remappings=[("image_raw", "zed2i/zed_node/left/image_rect_color"), ("image", "zed2i/zed_node/left/image_rect_color_rgb")],
+        remappings=[
+            ("image_raw", "zed2i/zed_node/left/image_rect_color"),
+            ("image", "zed2i/zed_node/left/image_rect_color_rgb"),
+        ],
     )
 
     apriltag_container = ComposableNodeContainer(

src/apriltag/setup.py

@@ -1,29 +1,29 @@
 from setuptools import find_packages, setup
 import os
 from glob import glob
-package_name = 'apriltag'
+
+package_name = "apriltag"
 
 setup(
     name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
         (
             os.path.join("share", package_name),
             glob("launch/*launch.[pxy][yma]*", recursive=True),
         ),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='umn-robotics',
-    maintainer_email='[email protected]',
-    description='Package for processing apriltag detections received from ISAAC ROS Apriltag.',
-    license='MIT License',
-    tests_require=['pytest'],
+    maintainer="umn-robotics",
+    maintainer_email="[email protected]",
+    description="Package for processing apriltag detections received from ISAAC ROS Apriltag.",
+    license="MIT License",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': ["apriltag_node = apriltag.apriltag_node:main"],
+        "console_scripts": ["apriltag_node = apriltag.apriltag_node:main"],
     },
 )

src/apriltag/test/test_copyright.py

@@ -17,9 +17,9 @@
 
 
 # Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.")
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

src/apriltag/test/test_flake8.py

@@ -20,6 +20,4 @@
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)

src/apriltag/test/test_pep257.py

@@ -19,5 +19,5 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"

src/drivetrain/drivetrain/drivetrain_node.py

@@ -31,20 +31,26 @@ def __init__(self, drive_motor, turning_motor, drivetrain):
         self.drivetrain = drivetrain
 
     def set_power(self, power: float) -> None:
-        self.drivetrain.cli_motor_set.call_async(MotorCommandSet.Request(can_id=self.drive_motor_can_id, type="duty_cycle", value=power))
+        self.drivetrain.cli_motor_set.call_async(
+            MotorCommandSet.Request(can_id=self.drive_motor_can_id, type="duty_cycle", value=power)
+        )
 
     def set_angle(self, angle: float) -> None:
         angle = (360 - angle) % 360
 
         self.drivetrain.cli_motor_set.call_async(
             MotorCommandSet.Request(
-                can_id=self.turning_motor_can_id, type="position", value=(angle - self.encoder_offset) * self.drivetrain.STEERING_MOTOR_GEAR_RATIO
+                can_id=self.turning_motor_can_id,
+                type="position",
+                value=(angle - self.encoder_offset) * self.drivetrain.STEERING_MOTOR_GEAR_RATIO,
             )
         )
 
     def reset(self, current_relative_angle) -> None:
         self.encoder_offset = self.current_absolute_angle - current_relative_angle
-        self.drivetrain.get_logger().info(f"CAN ID {self.turning_motor_can_id} Absolute Encoder angle offset set to: {self.encoder_offset}")
+        self.drivetrain.get_logger().info(
+            f"CAN ID {self.turning_motor_can_id} Absolute Encoder angle offset set to: {self.encoder_offset}"
+        )
         self.set_angle(0)  # Rotate the module to the 0 degree position
 
     def set_state(self, power: float, angle: float) -> None:
@@ -176,22 +182,42 @@ def absolute_angle_reset(self):
         if self.front_left.current_absolute_angle is not None:
             print("Absolute Encoder angles reset")
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            front_left_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.FRONT_LEFT_TURN))
-            front_left_future.add_done_callback(lambda future: self.front_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            front_left_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.FRONT_LEFT_TURN)
+            )
+            front_left_future.add_done_callback(
+                lambda future: self.front_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
+
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            front_right_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.FRONT_RIGHT_TURN)
+            )
+            front_right_future.add_done_callback(
+                lambda future: self.front_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            front_right_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.FRONT_RIGHT_TURN))
-            front_right_future.add_done_callback(lambda future: self.front_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            back_left_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.BACK_LEFT_TURN)
+            )
+            back_left_future.add_done_callback(
+                lambda future: self.back_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            back_left_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.BACK_LEFT_TURN))
-            back_left_future.add_done_callback(lambda future: self.back_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            back_right_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.BACK_RIGHT_TURN)
+            )
+            back_right_future.add_done_callback(
+                lambda future: self.back_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            back_right_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.BACK_RIGHT_TURN))
-            back_right_future.add_done_callback(lambda future: self.back_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
-
             self.absolute_angle_timer.cancel()
 
     # Define subsystem methods here
@@ -295,21 +321,41 @@ def drive_callback(self, request, response):
     def calibrate_callback(self, request, response):
         """This service request calibrates the drivetrain."""
         if self.front_left.current_absolute_angle is not None:
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            front_left_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.FRONT_LEFT_TURN))
-            front_left_future.add_done_callback(lambda future: self.front_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            front_left_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.FRONT_LEFT_TURN)
+            )
+            front_left_future.add_done_callback(
+                lambda future: self.front_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            front_right_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.FRONT_RIGHT_TURN))
-            front_right_future.add_done_callback(lambda future: self.front_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            front_right_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.FRONT_RIGHT_TURN)
+            )
+            front_right_future.add_done_callback(
+                lambda future: self.front_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            back_left_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.BACK_LEFT_TURN))
-            back_left_future.add_done_callback(lambda future: self.back_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            back_left_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.BACK_LEFT_TURN)
+            )
+            back_left_future.add_done_callback(
+                lambda future: self.back_left.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
-            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees. Divide this by the gear ratio to get the wheel position.
-            back_right_future = self.cli_motor_get.call_async(MotorCommandGet.Request(type="position", can_id=self.BACK_RIGHT_TURN))
-            back_right_future.add_done_callback(lambda future: self.back_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO))
+            # future.result().data will contain the position of the MOTOR (not the wheel) in degrees.
+            # Divide this by the gear ratio to get the wheel position.
+            back_right_future = self.cli_motor_get.call_async(
+                MotorCommandGet.Request(type="position", can_id=self.BACK_RIGHT_TURN)
+            )
+            back_right_future.add_done_callback(
+                lambda future: self.back_right.reset(future.result().data / self.STEERING_MOTOR_GEAR_RATIO)
+            )
 
             response.success = 0  # indicates success
         else:

src/drivetrain/test/test_copyright.py

@@ -19,5 +19,5 @@
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

src/drivetrain/test/test_flake8.py

@@ -20,6 +20,4 @@
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)

src/drivetrain/test/test_pep257.py

@@ -19,5 +19,5 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"

src/gstreamer/gstreamer/client.py

@@ -6,10 +6,8 @@ class ClientPlugin(Plugin):
     def __init__(self, context):
         super(ClientPlugin, self).__init__(context)
         self.setObjectName("ClientPlugin")
-        assert hasattr(context, 'node'), 'Context does not have a node.'
+        assert hasattr(context, "node"), "Context does not have a node."
         self._widget = ClientWidget(context.node)
         if context.serial_number() > 1:
-            self._widget.setWindowTitle(
-                self._widget.windowTitle() + (' (%d)' % context.serial_number()))
+            self._widget.setWindowTitle(self._widget.windowTitle() + (" (%d)" % context.serial_number()))
         context.add_widget(self._widget)
-