Type annotations for Flake8

documentation/multiprocess_example/add_random/add_random.py

@@ -15,7 +15,7 @@ class AddRandom:
     A new random number is generated every `__ADD_SWITCH_COUNT` times.
     """
 
-    def __init__(self, seed: int, max_random_term: int, add_change_count: int):
+    def __init__(self, seed: int, max_random_term: int, add_change_count: int) -> None:
         """
         Constructor seeds the RNG and sets the max add and
         number of adds before a new random number is chosen.

documentation/multiprocess_example/add_random/add_random_worker.py

@@ -14,7 +14,7 @@ def add_random_worker(
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

documentation/multiprocess_example/concatenator/concatenator.py

@@ -12,7 +12,7 @@ class Concatenator:
     Concatenates a prefix and suffix to the object.
     """
 
-    def __init__(self, prefix: str, suffix: str):
+    def __init__(self, prefix: str, suffix: str) -> None:
         """
         Constructor sets the prefix and suffix.
         """

documentation/multiprocess_example/concatenator/concatenator_worker.py

@@ -12,7 +12,7 @@ def concatenator_worker(
     suffix: str,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

documentation/multiprocess_example/countup/countup.py

@@ -10,7 +10,7 @@ class Countup:
     Increments its internal counter and outputs current counter.
     """
 
-    def __init__(self, start_thousands: int, max_iterations: int):
+    def __init__(self, start_thousands: int, max_iterations: int) -> None:
         """
         Constructor initializes the start and max points.
         """

documentation/multiprocess_example/countup/countup_worker.py

@@ -12,7 +12,7 @@ def countup_worker(
     max_iterations: int,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

documentation/multiprocess_example/intermediate_struct.py

@@ -8,7 +8,7 @@ class IntermediateStruct:
     Example of a simple struct.
     """
 
-    def __init__(self, number: int, sentence: str):
+    def __init__(self, number: int, sentence: str) -> None:
         """
         Constructor.
         """

documentation/tests/add_or_multiply.py

@@ -34,7 +34,7 @@ def add_or_multiply(self, num1: float, num2: float) -> float:
 
         raise NotImplementedError
 
-    def swap_state(self):
+    def swap_state(self) -> None:
         """
         Swaps internal state.
         """

modules/cluster_estimation/cluster_estimation.py

@@ -96,7 +96,7 @@ def __init__(
         min_activation_threshold: int,
         min_new_points_to_run: int,
         random_state: int,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/cluster_estimation/cluster_estimation_worker.py

@@ -14,7 +14,7 @@ def cluster_estimation_worker(
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Estimation worker process.
 

modules/data_merge/data_merge_worker.py

@@ -17,7 +17,7 @@ def data_merge_worker(
     odometry_input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process. Expects telemetry to be more frequent than detections.
     Queue is monotonic (i.e. timestamps never decrease).

modules/decision/decision.py

@@ -12,7 +12,7 @@ class ScoredLandingPad:
     Landing pad with score for decision.
     """
 
-    def __init__(self, landing_pad: object_in_world.ObjectInWorld, score: float):
+    def __init__(self, landing_pad: object_in_world.ObjectInWorld, score: float) -> None:
         self.landing_pad = landing_pad
         self.score = score
 
@@ -22,7 +22,7 @@ class Decision:
     Chooses next action to take based on known landing pad information.
     """
 
-    def __init__(self, tolerance: float):
+    def __init__(self, tolerance: float) -> None:
         self.__best_landing_pad: "object_in_world.ObjectInWorld | None" = None
         self.__weighted_pads = []
         self.__distance_tolerance = tolerance

modules/decision/landing_pad_tracking.py

@@ -11,10 +11,10 @@ class LandingPadTracking:
     positive, unconfirmed positive, or false positive.
     """
 
-    def __init__(self, distance_squared_threshold: float):
-        self.__unconfirmed_positives = []
-        self.__false_positives = []
-        self.__confirmed_positives = []
+    def __init__(self, distance_squared_threshold: float) -> None:
+        self.__unconfirmed_positives: "list[object_in_world.ObjectInWorld]" = []
+        self.__false_positives: "list[object_in_world.ObjectInWorld]" = []
+        self.__confirmed_positives: "list[object_in_world.ObjectInWorld]" = []
 
         # Landing pads within the square root of this distance are considered the same landing pad
         self.__distance_squared_threshold = distance_squared_threshold
@@ -34,7 +34,7 @@ def __is_similar(
         ) ** 2
         return distance_squared < distance_squared_threshold
 
-    def mark_false_positive(self, detection: object_in_world.ObjectInWorld):
+    def mark_false_positive(self, detection: object_in_world.ObjectInWorld) -> None:
         """
         Marks a detection as false positive and removes similar landing pads from the list of
         unconfirmed positives.
@@ -46,13 +46,15 @@ def mark_false_positive(self, detection: object_in_world.ObjectInWorld):
             if not self.__is_similar(landing_pad, detection, self.__distance_squared_threshold)
         ]
 
-    def mark_confirmed_positive(self, detection: object_in_world.ObjectInWorld):
+    def mark_confirmed_positive(self, detection: object_in_world.ObjectInWorld) -> None:
         """
         Marks a detection as a confimred positive for future use.
         """
         self.__confirmed_positives.append(detection)
 
-    def run(self, detections: "list[object_in_world.ObjectInWorld]"):
+    def run(
+        self, detections: "list[object_in_world.ObjectInWorld]"
+    ) -> "tuple[bool, object_in_world.ObjectInWorld | None]":
         """
         Updates the list of unconfirmed positives and returns the a first confirmed positive if
         one exists, else the unconfirmed positive with the lowest variance.

modules/decision_command.py

@@ -110,12 +110,12 @@ def create_land_at_absolute_position_command(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         command_type: CommandType,
         command_x: float,
         command_y: float,
         command_z: float,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/detect_target/detect_target.py

@@ -23,7 +23,7 @@ def __init__(
         override_full: bool,
         show_annotations: bool = False,
         save_name: str = "",
-    ):
+    ) -> None:
         """
         device: name of target device to run inference on (i.e. "cpu" or cuda device 0, 1, 2, 3).
         model_path: path to the YOLOv8 model.

modules/detect_target/detect_target_worker.py

@@ -16,7 +16,7 @@ def detect_target_worker(
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

modules/detection_in_world.py

@@ -37,12 +37,12 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         vertices: np.ndarray,
         centre: np.ndarray,
         label: int,
         confidence: float,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/detections_and_time.py

@@ -35,7 +35,9 @@ def create(
 
         return True, Detection(cls.__create_key, bounds, label, confidence)
 
-    def __init__(self, class_private_create_key, bounds: np.ndarray, label: int, confidence: float):
+    def __init__(
+        self, class_private_create_key: object, bounds: np.ndarray, label: int, confidence: float
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -50,6 +52,9 @@ def __init__(self, class_private_create_key, bounds: np.ndarray, label: int, con
         self.confidence = confidence
 
     def __repr__(self) -> str:
+        """
+        String representation.
+        """
         representation = (
             "cls: "
             + str(self.label)
@@ -104,7 +109,7 @@ def create(cls, timestamp: float) -> "tuple[bool, DetectionsAndTime | None]":
 
         return True, DetectionsAndTime(cls.__create_key, timestamp)
 
-    def __init__(self, class_private_create_key, timestamp: float):
+    def __init__(self, class_private_create_key: object, timestamp: float) -> None:
         """
         Private constructor, use create() method.
         """
@@ -134,7 +139,7 @@ def __len__(self) -> int:
         """
         return len(self.detections)
 
-    def append(self, detection: Detection):
+    def append(self, detection: Detection) -> None:
         """
         Appends a detected object.
         """

modules/drone_odometry_local.py

@@ -21,7 +21,9 @@ def create(
         """
         return True, DronePositionLocal(cls.__create_key, north, east, down)
 
-    def __init__(self, class_private_create_key, north: float, east: float, down: float):
+    def __init__(
+        self, class_private_create_key: object, north: float, east: float, down: float
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -69,13 +71,17 @@ def create_new(
         return True, DroneOrientationLocal(cls.__create_key, orientation)
 
     @classmethod
-    def create_wrap(cls, orientation: drone_odometry.DroneOrientation):
+    def create_wrap(
+        cls, orientation: drone_odometry.DroneOrientation
+    ) -> "tuple[bool, DroneOrientationLocal | None]":
         """
         Wrap existing orientation.
         """
         return True, DroneOrientationLocal(cls.__create_key, orientation)
 
-    def __init__(self, class_private_create_key, orientation: drone_odometry.DroneOrientation):
+    def __init__(
+        self, class_private_create_key: object, orientation: drone_odometry.DroneOrientation
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -122,10 +128,10 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         position: DronePositionLocal,
         orientation: DroneOrientationLocal,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/flight_interface/flight_interface.py

@@ -39,10 +39,10 @@ def create(cls, address: str, timeout_home: float) -> "tuple[bool, FlightInterfa
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         controller: flight_controller.FlightController,
         home_location: drone_odometry.DronePosition,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/flight_interface/flight_interface_worker.py

@@ -15,7 +15,7 @@ def flight_interface_worker(
     period: float,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

modules/geolocation/camera_properties.py

@@ -118,12 +118,12 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         resolution_x: int,
         resolution_y: int,
         u_scalar: float,
         v_scalar: float,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -248,10 +248,10 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         vec_camera_on_drone_position: np.ndarray,
         camera_to_drone_rotation_matrix: np.ndarray,
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/geolocation/geolocation.py

@@ -63,11 +63,11 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         camera_drone_extrinsics: camera_properties.CameraDroneExtrinsics,
         perspective_transform_sources: "list[list[float]]",
         rotated_source_vectors: "list[np.ndarray]",
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/geolocation/geolocation_worker.py

@@ -14,7 +14,7 @@ def geolocation_worker(
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
-):
+) -> None:
     """
     Worker process.
 

modules/image_and_time.py

@@ -29,7 +29,9 @@ def create(cls, image: np.ndarray) -> "tuple[bool, ImageAndTime | None]":
 
         return True, ImageAndTime(cls.__create_key, image, current_time)
 
-    def __init__(self, class_private_create_key, image: np.ndarray, timestamp: float):
+    def __init__(
+        self, class_private_create_key: object, image: np.ndarray, timestamp: float
+    ) -> None:
         """
         Private constructor, use create() method.
         """

modules/merged_odometry_detections.py

@@ -30,10 +30,10 @@ def create(
 
     def __init__(
         self,
-        class_private_create_key,
+        class_private_create_key: object,
         odometry_local: drone_odometry_local.DroneOdometryLocal,
         detections: "list[detections_and_time.Detection]",
-    ):
+    ) -> None:
         """
         Private constructor, use create() method.
         """