Use ruff to lint/format/isort

.github/workflows/test.yml

@@ -9,14 +9,14 @@ on:
   push:
     branches: [main]
   pull_request_target:
-    branches: [main, 'rc-*']
+    branches: [main, "rc-*"]
 
 jobs:
   test:
     if: github.repository_owner == 'viamrobotics'
     runs-on: buildjet-2vcpu-ubuntu-2204
     container:
-      image: python:${{ matrix.python-version }}
+      image: public.ecr.aws/docker/library/python:${{ matrix.python-version }}
     strategy:
       matrix:
         python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
@@ -44,6 +44,9 @@ jobs:
         run: poetry run pip install -r requirements-test.txt
         if: ${{ matrix.requirements-version == 'min' }}
 
+      - name: Type Check
+        run: make typecheck
+
       - name: Lint
         run: make lint
 

.github/workflows/update_protos.yml

@@ -9,11 +9,9 @@ on:
 jobs:
   update-protos:
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: bufbuild/[email protected]
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
@@ -39,13 +37,13 @@ jobs:
         run: make format
 
       - name: Add + Commit + Open PR
-        uses: peter-evans/[email protected]
-        with:
-          commit-message: "[WORKFLOW] Updating protos from ${{ github.event.client_payload.repo_name }}, commit: ${{ github.event.client_payload.sha }}"
-          branch: "workflow/update-protos"
-          delete-branch: true
-          base: main
-          title: Automated Protos Update
-          body: This is an auto-generated PR to update proto definitions. Check the commits to see which repos and commits are responsible for the changes
-          assignees: njooma
-          reviewers: njooma
+        shell: bash
+        run: |
+          git checkout -b workflow/update-protos || git checkout workflow/update-protos
+          git add --all
+          git -c author.name=viambot -c [email protected] -c committer.name=GitHub -c [email protected] commit -m "[WORKFLOW] Updating protos from ${{ github.event.client_payload.repo_name }}, commit: ${{ github.event.client_payload.sha }}"
+          git -c pull.ff=only pull origin workflow/update-protos || true  # do not fail if the branch doesn't exist
+          git push -f origin workflow/update-protos
+          gh pr view workflow/update-protos && gh pr reopen workflow/update-protos || gh pr create -B main -H workflow/update-protos -t "Automated Protos Update" -b "This is an auto-generated PR to update proto definitions. Check the commits to see which repos and commits are responsible for the changes" -a njooma -r njooma
+        env:
+          GH_TOKEN: ${{ github.token }}

.vscode/settings.json

@@ -1,37 +1,36 @@
 {
-    "[python]": {
-        "editor.defaultFormatter": "ms-python.black-formatter",
-        "editor.formatOnSave": true,
-    },
-    "python.linting.flake8Enabled": true,
-    "editor.formatOnSave": true,
-    "python.analysis.typeCheckingMode": "basic",
-    "python.linting.ignorePatterns": [
-        "**/site-packages/**/*.py",
-        ".vscode/*.py",
-        "gen/**/*",
-        "viam/proto/**/*"
-    ],
-    "files.trimTrailingWhitespace": true,
-    "files.insertFinalNewline": true,
-    "editor.rulers": [
-        {
-            "column": 140,
-            "color": "#777777"
-        }
-    ],
-    "python.formatting.provider": "black",
-    "cSpell.words": [
-        "frombytes",
-        "grpclib",
-        "klass",
-        "pointcloud",
-        "segmenters",
-        "TFLITE",
-        "tobytes",
-        "viam"
-    ],
-    "isort.args": [
-        "-l 140 --profile black"
-    ],
+  "[python]": {
+    "editor.defaultFormatter": "ms-python.black-formatter",
+    "editor.formatOnSave": true
+  },
+  "python.linting.flake8Enabled": true,
+  "editor.formatOnSave": true,
+  "python.analysis.typeCheckingMode": "basic",
+  "python.linting.ignorePatterns": [
+    "**/site-packages/**/*.py",
+    ".vscode/*.py",
+    "gen/**/*",
+    "viam/proto/**/*"
+  ],
+  "files.trimTrailingWhitespace": true,
+  "files.insertFinalNewline": true,
+  "editor.rulers": [
+    {
+      "column": 140,
+      "color": "#777777"
+    }
+  ],
+  "python.formatting.provider": "black",
+  "cSpell.words": [
+    "frombytes",
+    "grpclib",
+    "klass",
+    "pointcloud",
+    "RSDK",
+    "segmenters",
+    "TFLITE",
+    "tobytes",
+    "viam"
+  ],
+  "isort.args": ["-l 140 --profile black"]
 }

Makefile

@@ -2,18 +2,24 @@ clean:
 	find . -type d -name '__pycache__' | xargs rm -rf
 
 _lint:
-	flake8 --exclude=**/gen/**,*_grpc.py,*_pb2.py,*_pb2.pyi,.tox,**/venv/**
+	ruff --exclude=*_grpc.py,*_pb2.py,*_pb2.pyi,.tox .
 
 lint:
 	poetry run $(MAKE) _lint
 
 _format:
-	black --exclude ".*/gen/.*" ./src ./tests ./docs/examples
-	isort ./src ./tests ./docs/examples
+	ruff format ./src
+	ruff --select I001 --fix ./src
 
 format:
 	poetry run $(MAKE) _format
 
+_typecheck:
+	pyright
+
+typecheck:
+	poetry run $(MAKE) _typecheck
+
 _buf: clean
 	rm -rf src/viam/gen
 	buf generate buf.build/viamrobotics/api

docs/examples/_server.py

@@ -110,9 +110,6 @@
     Location,
     LocationAuthRequest,
     LocationAuthResponse,
-)
-from viam.proto.app import LogEntry as LogEntryPB
-from viam.proto.app import (
     MarkPartAsMainRequest,
     MarkPartAsMainResponse,
     MarkPartForRestartRequest,
@@ -208,6 +205,7 @@
     StreamingDataCaptureUploadRequest,
     StreamingDataCaptureUploadResponse,
 )
+from viam.proto.common import LogEntry as LogEntryPB
 from viam.utils import datetime_to_timestamp, dict_to_struct, value_to_primitive
 
 

docs/examples/example.ipynb

@@ -165,7 +165,7 @@
     "robot = await connect_with_channel()\n",
     "camera = Camera.from_robot(robot, \"camera0\")\n",
     "image = await camera.get_image(CameraMimeType.JPEG)\n",
-    "image.image.save(\"foo.png\")\n",
+    "image.save(\"foo.png\")\n",
     "\n",
     "# Don't forget to close the robot when you're done!\n",
     "await robot.close()"

examples/server/v1/services.py

@@ -1,4 +1,3 @@
-from datetime import datetime
 from numpy.typing import NDArray
 from typing import Dict, List, Optional, Tuple
 from tests.mocks.services import MockMLModel, MockSLAM
@@ -27,7 +26,6 @@ def __init__(self, name: str):
         self.point_cloud_chunks = MockSLAM.POINT_CLOUD_PCD_CHUNKS
         self.cloud_slam = MockSLAM.CLOUD_SLAM
         self.mapping_mode = MockSLAM.MAPPING_MODE
-        self.time = MockSLAM.LAST_UPDATE
         super().__init__(name)
 
     async def get_internal_state(self, **kwargs) -> List[bytes]:
@@ -39,8 +37,5 @@ async def get_point_cloud_map(self, **kwargs) -> List[bytes]:
     async def get_position(self, **kwargs) -> Pose:
         return self.position
 
-    async def get_latest_map_info(self, **kwargs) -> datetime:
-        return self.time
-
     async def get_properties(self, **kwargs) -> Tuple[bool, MappingMode.ValueType]:
         return (self.cloud_slam, self.mapping_mode)