consai_visualizerのテストのエラーを修正 (#640)

.pre-commit-config.yaml

@@ -63,7 +63,7 @@ repos:
     rev: 24.10.0
     hooks:
       - id: black
-        args: [--line-length=99]
+        args: [--line-length=99, --skip-string-normalization]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v17.0.6

consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py

@@ -14,9 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import deque
 import datetime
 import math
-from collections import deque
 from typing import Dict
 
 from consai_visualizer_msgs.msg import Color as VisColor
@@ -38,6 +38,7 @@
 
 
 class FieldWidget(QWidget):
+
     def __init__(self, parent=None):
         super(FieldWidget, self).__init__(parent)
 
@@ -166,7 +167,7 @@ def paintEvent(self, event):
         painter = QPainter(self)
 
         # 背景色をセット
-        painter.setBrush(QColor("darkgreen"))
+        painter.setBrush(QColor('darkgreen'))
         painter.drawRect(self.rect())
 
         painter.save()
@@ -183,7 +184,7 @@ def paintEvent(self, event):
         if self._do_rotate_draw_area is True:
             painter.rotate(-90)
 
-        draw_caption = ("caption", "caption") in self._active_layers
+        draw_caption = ('caption', 'caption') in self._active_layers
         self._draw_objects_on_transformed_area(painter, draw_caption)
         self._draw_visualizer_info_on_transformed_area(painter)
 
@@ -311,8 +312,8 @@ def _draw_visualizer_info_on_transformed_area(self, painter: QPainter):
             drag_line.p2.x = current_point.x()
             drag_line.p2.y = current_point.y()
             drag_line.size = 4
-            drag_line.color.name = "lightsalmon"
-            drag_line.caption = "dist: {:.1f} : {:.1f}, theta: {:.1f}".format(
+            drag_line.color.name = 'lightsalmon'
+            drag_line.caption = 'dist: {:.1f} : {:.1f}, theta: {:.1f}'.format(
                 distance.x(), distance.y(), theta_deg
             )
             self._draw_shape_line(painter, drag_line, True)
@@ -337,22 +338,22 @@ def _draw_visualizer_info_on_window_area(self, painter: QPainter):
         average_frame_rate = sum(self._frame_rate_buffer) / self._frame_rate_buffer.maxlen
         self._previous_update_time = datetime.datetime.now()
         annotation = ShapeAnnotation()
-        annotation.text = "FPS: {:.1f}".format(average_frame_rate)
+        annotation.text = 'FPS: {:.1f}'.format(average_frame_rate)
         annotation.normalized_x = 0.0
         annotation.normalized_y = 0.95
         annotation.normalized_width = 0.1
         annotation.normalized_height = 0.05
-        annotation.color.name = "white"
+        annotation.color.name = 'white'
         self._draw_shape_annotation(painter, annotation)
 
         # カーソル位置を描画
         cursor_pos = self._convert_draw_to_field_pos(self._mouse_current_point)
         if self._invert:
-            annotation.text = "inv"
-            annotation.color.name = "lightcoral"
+            annotation.text = 'inv'
+            annotation.color.name = 'lightcoral'
         else:
-            annotation.text = "pos"
-        annotation.text += " {:.2f} : {:.2f}".format(cursor_pos.x(), cursor_pos.y())
+            annotation.text = 'pos'
+        annotation.text += ' {:.2f} : {:.2f}'.format(cursor_pos.x(), cursor_pos.y())
         annotation.normalized_x = 0.1
         self._draw_shape_annotation(painter, annotation)
 
@@ -364,7 +365,7 @@ def _draw_shape_annotation(
         TARGET_WIDTH = shape.normalized_width * self.width()
         TARGET_HEIGHT = shape.normalized_height * self.height()
 
-        if shape.text == "":
+        if shape.text == '':
             return
 
         painter.save()

consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py

@@ -15,31 +15,32 @@
 # limitations under the License.
 
 
+from functools import partial
 import math
 import os
 import time
 
 # from frootspi_msgs.msg import BatteryVoltage
-from functools import partial
 
-import rclpy
 from ament_index_python.resources import get_resource
-from consai_visualizer_msgs.msg import ObjectsArray
 from consai_visualizer.field_widget import FieldWidget
+from consai_visualizer_msgs.msg import ObjectsArray
+from crane_msgs.msg import RobotFeedbackArray
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QPointF, Qt, QTimer
 from python_qt_binding.QtWidgets import QTreeWidgetItem, QWidget
 from qt_gui.plugin import Plugin
+import rclpy
 from robocup_ssl_msgs.msg import BallReplacement, Replacement, RobotReplacement
 from rqt_py_common.ini_helper import pack, unpack
-from crane_msgs.msg import RobotFeedbackArray
 
 
 class Visualizer(Plugin):
+
     def __init__(self, context):
         super(Visualizer, self).__init__(context)
 
-        self.setObjectName("Visualizer")
+        self.setObjectName('Visualizer')
 
         self._node = context.node
         self._logger = self._node.get_logger()
@@ -48,49 +49,49 @@ def __init__(self, context):
 
         # widgetを読み込む
         # FieldWidgetはカスタムウィジェットとしてuiファイルに設定済み
-        pkg_name = "consai_visualizer"
-        _, package_path = get_resource("packages", pkg_name)
-        ui_file = os.path.join(package_path, "share", pkg_name, "resource", "visualizer.ui")
-        loadUi(ui_file, self._widget, {"FieldWidget": FieldWidget})
+        pkg_name = 'consai_visualizer'
+        _, package_path = get_resource('packages', pkg_name)
+        ui_file = os.path.join(package_path, 'share', pkg_name, 'resource', 'visualizer.ui')
+        loadUi(ui_file, self._widget, {'FieldWidget': FieldWidget})
 
         # rqtのUIにwidgetを追加する
         if context.serial_number() > 1:
             self._widget.setWindowTitle(
-                self._widget.windowTitle() + (" (%d)" % context.serial_number())
+                self._widget.windowTitle() + (' (%d)' % context.serial_number())
             )
         context.add_widget(self._widget)
 
         # loggerをセット
         self._widget.field_widget.set_logger(self._logger)
-        self._add_visualizer_layer("caption", "caption")
+        self._add_visualizer_layer('caption', 'caption')
 
         self._sub_visualize_objects_array = self._node.create_subscription(
             ObjectsArray,
-            "visualizer_objects",
+            'visualizer_objects',
             self._callback_visualizer_objects,
             rclpy.qos.qos_profile_sensor_data,
         )
 
         self.sub_feedback = self._node.create_subscription(
             RobotFeedbackArray,
-            "robot_feedback",
+            'robot_feedback',
             self._callback_feedback,
             rclpy.qos.qos_profile_sensor_data,
         )
 
-        self._pub_replacement = self._node.create_publisher(Replacement, "replacement", 10)
+        self._pub_replacement = self._node.create_publisher(Replacement, 'replacement', 10)
 
         # Parameterを設定する
-        self._widget.field_widget.set_invert(self._node.declare_parameter("invert", False).value)
+        self._widget.field_widget.set_invert(self._node.declare_parameter('invert', False).value)
 
-        for team in ["blue", "yellow"]:
-            for turnon in ["on", "off"]:
-                method = "self._widget.btn_all_" + turnon + "_" + team + ".clicked.connect"
+        for team in ['blue', 'yellow']:
+            for turnon in ['on', 'off']:
+                method = 'self._widget.btn_all_' + turnon + '_' + team + '.clicked.connect'
                 eval(method)(
                     partial(
                         self._publish_all_robot_turnon_replacement,
-                        team == "yellow",
-                        turnon == "on",
+                        team == 'yellow',
+                        turnon == 'on',
                     )
                 )
 
@@ -126,15 +127,15 @@ def save_settings(self, plugin_settings, instance_settings):
 
         # layerとsub layerをカンマで結合して保存
         active_layers = self._extract_active_layers()
-        combined_layers = list(map(lambda x: x[0] + "," + x[1], active_layers))
-        instance_settings.set_value("active_layers", pack(combined_layers))
+        combined_layers = [x[0] + ',' + x[1] for x in active_layers]
+        instance_settings.set_value('active_layers', pack(combined_layers))
 
     def restore_settings(self, plugin_settings, instance_settings):
         # UIが起動したときに実行される関数
 
         # カンマ結合されたlayerを復元してセット
-        combined_layers = unpack(instance_settings.value("active_layers", []))
-        active_layers = list(map(lambda x: x.split(","), combined_layers))
+        combined_layers = unpack(instance_settings.value('active_layers', []))
+        active_layers = [x.split(',') for x in combined_layers]
         for layer, sub_layer in active_layers:
             self._add_visualizer_layer(layer, sub_layer, Qt.Checked)
 
@@ -152,8 +153,8 @@ def _callback_visualizer_objects(self, msg):
 
     def _add_visualizer_layer(self, layer: str, sub_layer: str, state=Qt.Unchecked):
         # レイヤーに重複しないように項目を追加する
-        if layer == "" or sub_layer == "":
-            self._logger.warning("layer={} or sub_layer={} is empty".format(layer, sub_layer))
+        if layer == '' or sub_layer == '':
+            self._logger.warning('layer={} or sub_layer={} is empty'.format(layer, sub_layer))
             return
 
         parents = self._widget.layer_widget.findItems(layer, Qt.MatchExactly, 0)
@@ -199,14 +200,14 @@ def _publish_replacement(self) -> None:
 
         # チェックが入ったボタン情報を解析する
         button = self._widget.radio_buttons.checkedButton()
-        if button.text() == "NONE":
+        if button.text() == 'NONE':
             return
-        elif button.text() == "Ball":
+        elif button.text() == 'Ball':
             self._publish_ball_replacement(start, end)
             return
         else:
             is_yellow = False
-            if button.text()[0] == "Y":
+            if button.text()[0] == 'Y':
                 is_yellow = True
             robot_id = int(button.text()[1:])
             self._publish_robot_replacement(start, end, is_yellow, robot_id)
@@ -265,26 +266,26 @@ def _update_robot_synthetics(self):
             diff_time = now - self.latest_update_time[i]
 
             try:
-                getattr(self._widget, f"robot{i}_voltage").setText(
+                getattr(self._widget, f'robot{i}_voltage').setText(
                     str(self.latest_battery_voltage[i])
                 )
             except AttributeError:
                 try:
-                    getattr(self._widget, f"robot{i}_voltage").setText(str(0.0))
+                    getattr(self._widget, f'robot{i}_voltage').setText(str(0.0))
                 except AttributeError:
                     pass
                 pass
             if diff_time > 3.0:  # 死んだ判定
                 # DEATH
                 try:
-                    getattr(self._widget, f"robot{i}_connection_status").setText("❌")
+                    getattr(self._widget, f'robot{i}_connection_status').setText('❌')
                 except AttributeError:
                     # ロボット状態表示UIは12列しか用意されておらず、ID=12以降が来るとエラーになるため回避
                     pass
             else:
                 # ALIVE
                 try:
-                    getattr(self._widget, f"robot{i}_connection_status").setText("👍")
+                    getattr(self._widget, f'robot{i}_connection_status').setText('👍')
                 except AttributeError:
                     # ロボット状態表示UIは12列しか用意されておらず、ID=12以降が来るとエラーになるため回避
                     pass