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Adding f-strings to device classes (#149)
* Adding f-strings to device classes * Add f-strings to remaining classes
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9 files changed

+43
-43
lines changed

9 files changed

+43
-43
lines changed

‎.flake8

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
[flake8]
22
docstring_style=sphinx
33
max-line-length = 127
4-
ignore = D400, Q000, P101, S311, PLW, PLC, PLR
4+
ignore = D400, Q000, S311, PLW, PLC, PLR
55
per-file-ignores =
66
buildhat/__init__.py:F401
77
exclude = docs/conf.py, docs/sphinxcontrib/cmtinc-buildhat.py, docs/sphinx_selective_exclude/*.py

‎buildhat/color.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -210,4 +210,4 @@ def wait_for_new_color(self):
210210

211211
def on(self):
212212
"""Turn on the sensor and LED"""
213-
self._write("port {} ; plimit 1 ; set -1\r".format(self.port))
213+
self._write(f"port {self.port} ; plimit 1 ; set -1\r")

‎buildhat/colordistance.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -189,4 +189,4 @@ def wait_for_new_color(self):
189189

190190
def on(self):
191191
"""Turn on the sensor and LED"""
192-
self._write("port {} ; plimit 1 ; set -1\r".format(self.port))
192+
self._write(f"port {self.port} ; plimit 1 ; set -1\r")

‎buildhat/devices.py

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -62,8 +62,7 @@ def __init__(self, port):
6262
self._typeid in Device._device_names
6363
and Device._device_names[self._typeid][0] != type(self).__name__ # noqa: W503
6464
) or self._typeid == -1:
65-
raise DeviceError('There is not a {} connected to port {} (Found {})'.format(type(self).__name__,
66-
port, self.name))
65+
raise DeviceError(f'There is not a {type(self).__name__} connected to port {port} (Found {self.name})')
6766
Device._used[p] = True
6867

6968
@staticmethod
@@ -186,7 +185,7 @@ def isconnected(self):
186185

187186
def reverse(self):
188187
"""Reverse polarity"""
189-
self._write("port {} ; plimit 1 ; set -1\r".format(self.port))
188+
self._write(f"port {self.port} ; plimit 1 ; set -1\r")
190189

191190
def get(self):
192191
"""Extract information from device
@@ -202,7 +201,7 @@ def get(self):
202201
idx = self._combimode
203202
else:
204203
raise DeviceError("Not in simple or combimode")
205-
self._write("port {} ; selonce {}\r".format(self.port, idx))
204+
self._write(f"port {self.port} ; selonce {idx}\r")
206205
# wait for data
207206
with Device._instance.portcond[self.port]:
208207
Device._instance.portcond[self.port].wait()
@@ -218,13 +217,13 @@ def mode(self, modev):
218217
self._combimode = 0
219218
modestr = ""
220219
for t in modev:
221-
modestr += "{} {} ".format(t[0], t[1])
222-
self._write("port {} ; combi {} {}\r".format(self.port, self._combimode, modestr))
220+
modestr += f"{t[0]} {t[1]} "
221+
self._write(f"port {self.port} ; combi {self._combimode} {modestr}\r")
223222
self._simplemode = -1
224223
else:
225224
# Remove combi mode
226225
if self._combimode != -1:
227-
self._write("port {} ; combi {}\r".format(self.port, self._combimode))
226+
self._write(f"port {self.port} ; combi {self._combimode}\r")
228227
self._combimode = -1
229228
self._simplemode = int(modev)
230229

@@ -240,26 +239,27 @@ def select(self):
240239
idx = self._combimode
241240
else:
242241
raise DeviceError("Not in simple or combimode")
243-
self._write("port {} ; select {}\r".format(self.port, idx))
242+
self._write(f"port {self.port} ; select {idx}\r")
244243

245244
def on(self):
246245
"""Turn on sensor"""
247-
self._write("port {} ; plimit 1 ; on\r".format(self.port))
246+
self._write(f"port {self.port} ; plimit 1 ; on\r")
248247

249248
def off(self):
250249
"""Turn off sensor"""
251-
self._write("port {} ; off\r".format(self.port))
250+
self._write(f"port {self.port} ; off\r")
252251

253252
def deselect(self):
254253
"""Unselect data from mode"""
255-
self._write("port {} ; select\r".format(self.port))
254+
self._write(f"port {self.port} ; select\r")
256255

257256
def _write(self, cmd):
258257
self.isconnected()
259258
Device._instance.write(cmd.encode())
260259

261260
def _write1(self, data):
262-
self._write("port {} ; write1 {}\r".format(self.port, ' '.join('{:x}'.format(h) for h in data)))
261+
hexstr = ' '.join(f'{h:x}' for h in data)
262+
self._write(f"port {self.port} ; write1 {hexstr}\r")
263263

264264
def callback(self, func):
265265
"""Set callback function

‎buildhat/distance.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -164,4 +164,4 @@ def eyes(self, *args):
164164

165165
def on(self):
166166
"""Turn on the sensor"""
167-
self._write("port {} ; set -1\r".format(self.port))
167+
self._write(f"port {self.port} ; set -1\r")

‎buildhat/hat.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ def get_vin(self):
5454
def _set_led(self, intmode):
5555
if isinstance(intmode, int) and intmode >= -1 and intmode <= 3:
5656
self.led_status = intmode
57-
Device._instance.write("ledmode {}\r".format(intmode).encode())
57+
Device._instance.write(f"ledmode {intmode}\r".encode())
5858

5959
def set_leds(self, color="voltage"):
6060
"""Set the two LEDs on or off on the BuildHAT.

‎buildhat/light.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -30,4 +30,4 @@ def brightness(self, brightness):
3030
"""
3131
if not (brightness >= 0 and brightness <= 100):
3232
raise LightError("Need brightness arg, of 0 to 100")
33-
self._write("port {} ; on ; plimit {}\r".format(self.port, brightness / 100.0))
33+
self._write(f"port {self.port} ; on ; plimit {brightness / 100.0}\r")

‎buildhat/motors.py

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -54,12 +54,12 @@ def start(self, speed=None):
5454
if not (speed >= -100 and speed <= 100):
5555
raise MotorError("Invalid Speed")
5656
self._currentspeed = speed
57-
cmd = "port {} ; pwm ; set {}\r".format(self.port, speed / 100)
57+
cmd = f"port {self.port} ; pwm ; set {speed / 100}\r"
5858
self._write(cmd)
5959

6060
def stop(self):
6161
"""Stop motor"""
62-
cmd = "port {} ; off\r".format(self.port)
62+
cmd = f"port {self.port} ; off\r"
6363
self._write(cmd)
6464
self._currentspeed = 0
6565

@@ -71,7 +71,7 @@ def plimit(self, plimit):
7171
"""
7272
if not (plimit >= 0 and plimit <= 1):
7373
raise MotorError("plimit should be 0 to 1")
74-
self._write("port {} ; plimit {}\r".format(self.port, plimit))
74+
self._write(f"port {self.port} ; plimit {plimit}\r")
7575

7676
def bias(self, bias):
7777
"""Bias motor
@@ -81,7 +81,7 @@ def bias(self, bias):
8181
"""
8282
if not (bias >= 0 and bias <= 1):
8383
raise MotorError("bias should be 0 to 1")
84-
self._write("port {} ; bias {}\r".format(self.port, bias))
84+
self._write(f"port {self.port} ; bias {bias}\r")
8585

8686

8787
class MotorRunmode(Enum):
@@ -192,8 +192,8 @@ def _run_positional_ramp(self, pos, newpos, speed):
192192
# Collapse speed range to -5 to 5
193193
speed *= 0.05
194194
dur = abs((newpos - pos) / speed)
195-
cmd = "port {}; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 1 s4 0.0027777778 0 5 0 .1 3 ; set ramp {} {} {} 0\r".format(
196-
self.port, self.port, pos, newpos, dur)
195+
cmd = (f"port {self.port}; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; "
196+
f"set ramp {pos} {newpos} {dur} 0\r")
197197
self._write(cmd)
198198
with self._hat.rampcond[self.port]:
199199
self._hat.rampcond[self.port].wait()
@@ -248,8 +248,8 @@ def run_to_position(self, degrees, speed=None, blocking=True, direction="shortes
248248

249249
def _run_for_seconds(self, seconds, speed):
250250
self._runmode = MotorRunmode.SECONDS
251-
cmd = "port {} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 0 s1 1 0 0.003 0.01 0 100; set pulse {} 0.0 {} 0\r".format(
252-
self.port, self.port, speed, seconds)
251+
cmd = (f"port {self.port} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
252+
f"set pulse {speed} 0.0 {seconds} 0\r")
253253
self._write(cmd)
254254
with self._hat.pulsecond[self.port]:
255255
self._hat.pulsecond[self.port].wait()
@@ -296,10 +296,10 @@ def start(self, speed=None):
296296
else:
297297
if not (speed >= -100 and speed <= 100):
298298
raise MotorError("Invalid Speed")
299-
cmd = "port {} ; set {}\r".format(self.port, speed)
299+
cmd = f"port {self.port} ; set {speed}\r"
300300
if self._runmode == MotorRunmode.NONE:
301-
cmd = "port {} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 0 s1 1 0 0.003 0.01 0 100; set {}\r".format(
302-
self.port, self.port, speed)
301+
cmd = (f"port {self.port} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
302+
f"set {speed}\r")
303303
self._runmode = MotorRunmode.FREE
304304
self._currentspeed = speed
305305
self._write(cmd)
@@ -372,7 +372,7 @@ def plimit(self, plimit):
372372
"""
373373
if not (plimit >= 0 and plimit <= 1):
374374
raise MotorError("plimit should be 0 to 1")
375-
self._write("port {} ; plimit {}\r".format(self.port, plimit))
375+
self._write(f"port {self.port} ; plimit {plimit}\r")
376376

377377
def bias(self, bias):
378378
"""Bias motor
@@ -382,7 +382,7 @@ def bias(self, bias):
382382
"""
383383
if not (bias >= 0 and bias <= 1):
384384
raise MotorError("bias should be 0 to 1")
385-
self._write("port {} ; bias {}\r".format(self.port, bias))
385+
self._write(f"port {self.port} ; bias {bias}\r")
386386

387387
def pwm(self, pwmv):
388388
"""PWM motor
@@ -392,11 +392,11 @@ def pwm(self, pwmv):
392392
"""
393393
if not (pwmv >= -1 and pwmv <= 1):
394394
raise MotorError("pwm should be -1 to 1")
395-
self._write("port {} ; pwm ; set {}\r".format(self.port, pwmv))
395+
self._write(f"port {self.port} ; pwm ; set {pwmv}\r")
396396

397397
def coast(self):
398398
"""Coast motor"""
399-
self._write("port {} ; coast\r".format(self.port))
399+
self._write(f"port {self.port} ; coast\r")
400400

401401
def float(self):
402402
"""Float motor"""

‎buildhat/serinterface.py

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -191,13 +191,13 @@ def loadfirmware(self, firmware, signature):
191191
sig = f.read()
192192
self.write(b"clear\r")
193193
self.getprompt()
194-
self.write("load {} {}\r".format(len(firm), self.checksum(firm)).encode())
194+
self.write(f"load {len(firm)} {self.checksum(firm)}\r".encode())
195195
time.sleep(0.1)
196196
self.write(b"\x02", replace="0x02")
197197
self.write(firm, replace="--firmware file--")
198198
self.write(b"\x03\r", replace="0x03")
199199
self.getprompt()
200-
self.write("signature {}\r".format(len(sig)).encode())
200+
self.write(f"signature {len(sig)}\r".encode())
201201
time.sleep(0.1)
202202
self.write(b"\x02", replace="0x02")
203203
self.write(sig, replace="--signature file--")
@@ -239,9 +239,9 @@ def write(self, data, log=True, replace=""):
239239
self.ser.write(data)
240240
if not self.fin and log:
241241
if replace != "":
242-
logging.info("> {}".format(replace))
242+
logging.info(f"> {replace}")
243243
else:
244-
logging.info("> {}".format(data.decode('utf-8', 'ignore').strip()))
244+
logging.info(f"> {data.decode('utf-8', 'ignore').strip()}")
245245

246246
def read(self):
247247
"""Read data from the serial port of Build HAT
@@ -254,7 +254,7 @@ def read(self):
254254
except serial.SerialException:
255255
pass
256256
if line != "":
257-
logging.info("< {}".format(line))
257+
logging.info(f"< {line}")
258258
return line
259259

260260
def shutdown(self):
@@ -269,11 +269,11 @@ def shutdown(self):
269269
for p in range(4):
270270
conn = self.connections[p]
271271
if conn.typeid != 64:
272-
turnoff += "port {} ; pwm ; coast ; off ;".format(p)
272+
turnoff += f"port {p} ; pwm ; coast ; off ;"
273273
else:
274-
self.write("port {} ; write1 {}\r".format(p, ' '.join('{:x}'.format(h)
275-
for h in [0xc2, 0, 0, 0, 0, 0, 0, 0, 0, 0])).encode())
276-
self.write("{}\r".format(turnoff).encode())
274+
hexstr = ' '.join(f'{h:x}' for h in [0xc2, 0, 0, 0, 0, 0, 0, 0, 0, 0])
275+
self.write(f"port {p} ; write1 {hexstr}\r".encode())
276+
self.write(f"{turnoff}\r".encode())
277277
self.write(b"port 0 ; select ; port 1 ; select ; port 2 ; select ; port 3 ; select ; echo 0\r")
278278

279279
def callbackloop(self, q):
@@ -311,7 +311,7 @@ def loop(self, cond, uselist, q):
311311
typeid = int(line[2 + len(BuildHAT.CONNECTED):], 16)
312312
self.connections[portid].update(typeid, True)
313313
if typeid == 64:
314-
self.write("port {} ; on\r".format(portid).encode())
314+
self.write(f"port {portid} ; on\r".encode())
315315
if uselist:
316316
count += 1
317317
elif cmp(msg, BuildHAT.CONNECTEDPASSIVE):

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