Add Ruff formatting automation

.github/dependabot.yml

@@ -0,0 +1,13 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: weekly
+    open-pull-requests-limit: 5
+
+  - package-ecosystem: pip
+    directory: /
+    schedule:
+      interval: weekly
+    open-pull-requests-limit: 5

.github/workflows/format.yml

@@ -0,0 +1,44 @@
+name: autofix.ci
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  ruff:
+    name: Ruff format
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref || github.ref_name }}
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+          cache: pip
+          cache-dependency-path: requirements-dev.txt
+
+      - name: Install formatter
+        run: python -m pip install -r requirements-dev.txt
+
+      - name: Format Python
+        if: github.event_name != 'push'
+        run: ./scripts/format
+
+      - name: Check Python formatting
+        if: github.event_name == 'push'
+        run: ./scripts/check-format
+
+      - name: Commit formatting fixes
+        if: github.event_name != 'push'
+        uses: autofix-ci/action@v1

README.md

@@ -28,3 +28,23 @@ list_property:
  - list_value2
 empyt_list_property: []
 ```
+
+## Formatting
+This package uses Ruff for Python formatting and import ordering. The formatter is configured
+for ROS 2's Python style preferences and Ubuntu 22.04 / Python 3.10 compatibility in
+`pyproject.toml`.
+
+Install the formatter:
+```bash
+python3 -m pip install -r requirements-dev.txt
+```
+
+Format the repository:
+```bash
+./scripts/format
+```
+
+Check formatting without modifying files:
+```bash
+./scripts/check-format
+```

launch/launch_all_vehicles.launch.py

@@ -1,120 +1,139 @@
 # python imports
 from pathlib import Path
+
 import yaml
 
 # ROS imports
 from ament_index_python import get_package_share_directory
-from launch import LaunchDescription, logging
 from launch_ros.actions import Node
 
-package_name = "mavinsight"
-namespace = "viz"
-LOGGER = logging.get_logger("vehicle_launch_logger")
-initial_paths_overrides = ["chimera_d_4.yaml", "c2_c130_crash.yaml"]
+from launch import LaunchDescription, logging
+
+package_name = 'mavinsight'
+namespace = 'viz'
+LOGGER = logging.get_logger('vehicle_launch_logger')
+initial_paths_overrides = ['chimera_d_4.yaml', 'c2_c130_crash.yaml']
+
 
 def generate_launch_description():
     ld = LaunchDescription()
 
     share_dir = Path(get_package_share_directory(package_name))
-    shared_resources = share_dir / "package_resources"
+    shared_resources = share_dir / 'package_resources'
 
     global_config = shared_resources / 'global_node_config.yaml'
 
     # TODO change behavior for empty initial paths override
     initial_paths = [(shared_resources) / p for p in initial_paths_overrides]
 
-    LOGGER.info(f"Initial paths: {[p.name for p in initial_paths]}")
+    LOGGER.info(f'Initial paths: {[p.name for p in initial_paths]}')
 
     nodes = build_nodes(initial_paths, global_config)
     for node in nodes:
         ld.add_action(node)
 
     return ld
 
+
 def build_nodes(paths: list[Path], global_config: Path) -> list[Node]:
-    LOGGER.debug("Starting build")
+    LOGGER.debug('Starting build')
     # initialize set of processed paths and output list
     processed = set()
     node_list = []
 
     while paths:
         # capture and error check next path
         config_path = paths.pop()
-        LOGGER.info(f"Starting processing on {config_path.as_posix()}")
-        assert isinstance(config_path, Path), f"Unrecognized build_nodes input type."
-        if config_path.suffix != ".yaml":
-            LOGGER.error(f"Non-yaml config file detected: {config_path.as_posix()}. GraphMember configs must be yaml-encoded.\nSkipping...")
+        LOGGER.info(f'Starting processing on {config_path.as_posix()}')
+        assert isinstance(config_path, Path), f'Unrecognized build_nodes input type.'
+        if config_path.suffix != '.yaml':
+            LOGGER.error(
+                f'Non-yaml config file detected: {config_path.as_posix()}. GraphMember configs must be yaml-encoded.\nSkipping...'
+            )
             continue
         if config_path in processed:
-            LOGGER.error(f"Potential circular path detected in config files.\nConfig file: {config_path.as_posix()} is contained by a sub-member.\nSkipping...")
+            LOGGER.error(
+                f'Potential circular path detected in config files.\nConfig file: {config_path.as_posix()} is contained by a sub-member.\nSkipping...'
+            )
             continue
-        LOGGER.debug(f"non-circular path")
+        LOGGER.debug(f'non-circular path')
         # path is checkable, add to processed list
         processed.add(config_path)
 
         # resolve filename to absolute path in either sensor config or vehicle config
         try:
             abs_path = resolve_config_file(config_path)
         except FileExistsError:
-            LOGGER.error(f"Duplicate filenames in Vehicle + Sensor dirs for file: {config_path.as_posix()}.\nSkipping...")
+            LOGGER.error(
+                f'Duplicate filenames in Vehicle + Sensor dirs for file: {config_path.as_posix()}.\nSkipping...'
+            )
             continue
         if abs_path is None:
-            LOGGER.error(f"Cannot find file: {config_path.as_posix()} in any MAVInsight config folder.\nSkipping...")
+            LOGGER.error(
+                f'Cannot find file: {config_path.as_posix()} in any MAVInsight config folder.\nSkipping...'
+            )
             continue
-        LOGGER.debug(f"abs path acquired")
+        LOGGER.debug(f'abs path acquired')
 
         # open file and confirm yaml encoding
-        with open(abs_path.as_posix(), "r", encoding="utf-8") as f:
+        with open(abs_path.as_posix(), 'r', encoding='utf-8') as f:
             config = yaml.safe_load(f)
         if type(config) is not dict:
-            LOGGER.error(f"Error parsing file: {abs_path.as_posix()} as yaml. GraphMember configs must be yaml-encoded.\nSkipping...")
+            LOGGER.error(
+                f'Error parsing file: {abs_path.as_posix()} as yaml. GraphMember configs must be yaml-encoded.\nSkipping...'
+            )
             continue
-        LOGGER.debug(f"file opened successfully")
+        LOGGER.debug(f'file opened successfully')
 
         # parse yaml down to the param layer (remove the layers of nesting above params)
         while len(config.keys()) == 1:
             config = config[next(iter(config))]
-        LOGGER.debug(f"Base yaml acquired")
+        LOGGER.debug(f'Base yaml acquired')
 
         # select the correct executable for this config file
         try:
             ex = config['executable']
         except KeyError as e:
-            LOGGER.error(f"Config file: {abs_path.as_posix()} contains no executable param.\nSkipping...")
+            LOGGER.error(
+                f'Config file: {abs_path.as_posix()} contains no executable param.\nSkipping...'
+            )
             continue
-        LOGGER.debug(f"File type identified")
+        LOGGER.debug(f'File type identified')
 
         # create Node action for launch description
-        node_list.append(Node(
-            package=package_name,
-            executable=ex,
-            name=abs_path.stem,
-            namespace=namespace,
-            parameters=[global_config.as_posix(), abs_path.as_posix()],
-            output="screen",
-        ))
+        node_list.append(
+            Node(
+                package=package_name,
+                executable=ex,
+                name=abs_path.stem,
+                namespace=namespace,
+                parameters=[global_config.as_posix(), abs_path.as_posix()],
+                output='screen',
+            )
+        )
 
         # add sub-members to list of nodes to be built
         sensors = config.get('sensors', [])
         if len(sensors) > 0:
-            LOGGER.info(f"Adding new sensor files: {sensors}")
-            for sens in config.get("sensors", []):
+            LOGGER.info(f'Adding new sensor files: {sensors}')
+            for sens in config.get('sensors', []):
                 paths.append(Path(sens))
 
         vizs = config.get('viz', [])
         if len(vizs) > 0:
-            LOGGER.info(f"Adding new visualization files: {vizs}")
-            for viz in config.get("viz", []):
+            LOGGER.info(f'Adding new visualization files: {vizs}')
+            for viz in config.get('viz', []):
                 paths.append(Path(viz))
 
     return node_list
 
+
 def resolve_config_file(path: Path) -> Path | None:
     if path.is_absolute():
         return path
 
-    package_configs = Path(get_package_share_directory(package_name)) / "package_resources"
+    package_configs = Path(get_package_share_directory(package_name)) / 'package_resources'
     resolved_path = package_configs / path
     if not resolved_path.is_file():
-        raise FileNotFoundError(f"Could not find configs for: {path} in mavinsight configs folder.")
+        raise FileNotFoundError(f'Could not find configs for: {path} in mavinsight configs folder.')
     return resolved_path