refactor: fix pylint

camera/depthai.py

@@ -5,14 +5,14 @@ import abc
 import datetime
 import logging
 import typing
+from dataclasses import dataclass
 
 import cv2
 import depthai as dai
+import events.events_pb2
 import numpy as np
 import paho.mqtt.client as mqtt
 
-import events.events_pb2
-
 logger = logging.getLogger(__name__)
 
 _NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
@@ -92,7 +92,7 @@ class FrameProcessor:
     def process(self, img: dai.ImgFrame) -> typing.Any:
         """
         Publish camera frames
-        :param img:
+        :param img: image read from camera
         :return:
             id frame reference
         :raise:
@@ -119,13 +119,23 @@ class FrameProcessor:
 
 
 class Source(abc.ABC):
-    @abc.abstractmethod
+    """Base class for image source"""
-    def get_stream_name(self) -> str:
-        pass
 
     @abc.abstractmethod
-    def link_preview(self, input_node: dai.Node.Input):
+    def get_stream_name(self) -> str:
-        pass
+        """
+        Queue/stream name to use to get data
+
+        :return: steam name
+        """
+
+    @abc.abstractmethod
+    def link(self, input_node: dai.Node.Input) -> None:
+        """
+        Link this source to the input node
+
+        :param: input_node:  input node to link
+        """
 
 
 class ObjectDetectionNN:
@@ -165,9 +175,18 @@ class ObjectDetectionNN:
         return xout_nn
 
     def get_stream_name(self) -> str:
+        """
+        Queue/stream name to use to get data
+
+        :return: stream name
+        """
         return self._xout.getStreamName()
 
     def get_input(self) -> dai.Node.Input:
+        """
+        Get input node to use to link with source node
+        :return: input to link with source output, see Source.link()
+        """
         return self._manip_image.inputImage
 
 
@@ -192,23 +211,29 @@ class CameraSource(Source):
         # link camera preview to output
         cam_rgb.preview.link(xout_rgb.input)
 
-    def link_preview(self, input_node: dai.Node.Input):
+    def link(self, input_node: dai.Node.Input) -> None:
         self._cam_rgb.preview.link(input_node)
 
     def get_stream_name(self) -> str:
         return self._xout_rgb.getStreamName()
 
 
+@dataclass
+class MqttConfig:
+    """MQTT configuration"""
+    host: str
+    topic: str
+    port: int = 1883
+    qos: int = 0
+
+
 class MqttSource(Source):
     """Image source based onto mqtt stream"""
 
-    def __init__(self, device: dai.Device, pipeline: dai.Pipeline, mqtt_host: str, mqtt_topic: str,
+    def __init__(self, device: dai.Device, pipeline: dai.Pipeline, mqtt_config: MqttConfig):
-                 mqtt_port: int = 1883, mqtt_qos: int = 0):
+        self._mqtt_config = mqtt_config
-        self._mqtt_host = mqtt_host
-        self._mqtt_port = mqtt_port
-
         self._client = mqtt.Client()
-        self._client.user_data_set({"topic": mqtt_topic, "qos": str(mqtt_qos)})
+        self._client.user_data_set(mqtt_config)
         self._client.on_connect = self._on_connect
         self._client.on_message = self._on_message
 
@@ -220,27 +245,32 @@ class MqttSource(Source):
 
         self._img_in_queue = device.getInputQueue(self._img_in.getStreamName())
 
-    def run(self):
+    def run(self) -> None:
-        self._client.connect(host=self._mqtt_host, port=self._mqtt_port)
+        """ Connect and start mqtt loop """
+        self._client.connect(host=self._mqtt_config.host, port=self._mqtt_config.port)
         self._client.loop_start()
 
-    def stop(self):
+    def stop(self) -> None:
+        """Stop and disconnect mqtt loop"""
         self._client.loop_stop()
         self._client.disconnect()
 
     @staticmethod
-    def _on_connect(client: mqtt.Client, userdata: dict[str, str], flags, rc):
+    # pylint: disable=unused-argument
+    def _on_connect(client: mqtt.Client, userdata: MqttConfig, flags: typing.Any,
+                    result_connection: typing.Any) -> None:
         # if we lose the connection and reconnect then subscriptions will be renewed.
-        client.subscribe(topic=userdata["topic"], qos=int(userdata["qos"]))
+        client.subscribe(topic=userdata.topic, qos=userdata.qos)
 
-    def _on_message(self, _: mqtt.Client, user_data: dict[str, str], msg: mqtt.MQTTMessage):
+    # pylint: disable=unused-argument
+    def _on_message(self, _: mqtt.Client, user_data: MqttConfig, msg: mqtt.MQTTMessage) -> None:
         frame_msg = events.events_pb2.FrameMessage()
         frame_msg.ParseFromString(msg.payload)
 
         frame = np.asarray(frame_msg.frame, dtype="uint8")
         frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
         nn_data = dai.NNData()
-        nn_data.setLayer("data", _to_planar(frame, frame.shape()))
+        nn_data.setLayer("data", _to_planar(frame, (300, 300)))
         self._img_in_queue.send(nn_data)
 
     def get_stream_name(self) -> str:
@@ -261,8 +291,6 @@ class PipelineController:
 
     def __init__(self, img_width: int, img_height: int, frame_processor: FrameProcessor,
                  object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN):
-        self._img_width = img_width
-        self._img_height = img_height
         self._pipeline = self._configure_pipeline()
         self._frame_processor = frame_processor
         self._object_processor = object_processor
@@ -277,7 +305,7 @@ class PipelineController:
         pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
 
         # Link preview to manip and manip to nn
-        self._camera.link_preview(self._object_node.get_input())
+        self._camera.link(self._object_node.get_input())
 
         logger.info("pipeline configured")
         return pipeline
@@ -288,7 +316,7 @@ class PipelineController:
         :return:
         """
         # Connect to device and start pipeline
-        with dai.Device(self._pipeline) as device:
+        with dai.Device(pipeline=self._pipeline) as device:
             logger.info('MxId: %s', device.getDeviceInfo().getMxId())
             logger.info('USB speed: %s', device.getUsbSpeed())
             logger.info('Connected cameras: %s', device.getConnectedCameras())
@@ -311,7 +339,7 @@ class PipelineController:
                 except Exception as ex:
                     logger.exception("unexpected error: %s", str(ex))
 
-    def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue):
+    def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue) -> None:
         logger.debug("wait for new frame")
 
         # Wait for frame
@@ -325,7 +353,7 @@ class PipelineController:
         in_nn: dai.NNData = q_nn.get()
         self._object_processor.process(in_nn, frame_ref)
 
-    def stop(self):
+    def stop(self) -> None:
         """
         Stop event loop, if loop is not running, do nothing
         :return:

events/events_pb2.py

@@ -1,53 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: events/events.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import symbol_database as _symbol_database
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3')
-
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-
-  DESCRIPTOR._options = None
-  DESCRIPTOR._serialized_options = b'Z\010./events'
-  _DRIVEMODE._serialized_start=1196
-  _DRIVEMODE._serialized_end=1241
-  _TYPEOBJECT._serialized_start=1243
-  _TYPEOBJECT._serialized_end=1293
-  _FRAMEREF._serialized_start=72
-  _FRAMEREF._serialized_end=156
-  _FRAMEMESSAGE._serialized_start=158
-  _FRAMEMESSAGE._serialized_end=225
-  _STEERINGMESSAGE._serialized_start=227
-  _STEERINGMESSAGE._serialized_end=327
-  _THROTTLEMESSAGE._serialized_start=329
-  _THROTTLEMESSAGE._serialized_end=429
-  _DRIVEMODEMESSAGE._serialized_start=431
-  _DRIVEMODEMESSAGE._serialized_end=496
-  _OBJECTSMESSAGE._serialized_start=498
-  _OBJECTSMESSAGE._serialized_end=600
-  _OBJECT._serialized_start=603
-  _OBJECT._serialized_end=731
-  _SWITCHRECORDMESSAGE._serialized_start=733
-  _SWITCHRECORDMESSAGE._serialized_end=771
-  _ROADMESSAGE._serialized_start=774
-  _ROADMESSAGE._serialized_end=914
-  _POINT._serialized_start=916
-  _POINT._serialized_end=945
-  _ELLIPSE._serialized_start=947
-  _ELLIPSE._serialized_end=1061
-  _RECORDMESSAGE._serialized_start=1064
-  _RECORDMESSAGE._serialized_end=1194
-# @@protoc_insertion_point(module_scope)