feat: check typing with mypy

camera/cli.py

@@ -85,9 +85,7 @@ def execute_from_command_line() -> None:
                                            objects_topic=args.mqtt_topic_robocar_objects,
                                            objects_threshold=args.objects_threshold)
 
-    pipeline_controller = cam.PipelineController(img_width=args.image_width,
+    pipeline_controller = cam.PipelineController(frame_processor=frame_processor,
-                                                 img_height=args.image_height,
-                                                 frame_processor=frame_processor,
                                                  object_processor=object_processor)
 
     def sigterm_handler():

camera/depthai.py

@@ -11,6 +11,7 @@ import cv2
 import depthai as dai
 import events.events_pb2
 import numpy as np
+import numpy.typing as npt
 import paho.mqtt.client as mqtt
 
 logger = logging.getLogger(__name__)
@@ -47,8 +48,7 @@ class ObjectProcessor:
         if boxes.shape[0] > 0:
             self._publish_objects(boxes, frame_ref, scores)
 
-    def _publish_objects(self, boxes: np.array, frame_ref, scores: np.array) -> None:
+    def _publish_objects(self, boxes: npt.NDArray[np.float64], frame_ref, scores: npt.NDArray[np.float64]) -> None:
-
         objects_msg = events.events_pb2.ObjectsMessage()
         objs = []
         for i in range(boxes.shape[0]):
@@ -276,11 +276,11 @@ class MqttSource(Source):
     def get_stream_name(self) -> str:
         return self._img_out.getStreamName()
 
-    def link_preview(self, input_node: dai.Node.Input):
+    def link(self, input_node: dai.Node.Input):
         self._img_in.out.link(input_node)
 
 
-def _to_planar(arr: np.ndarray, shape: tuple) -> list:
+def _to_planar(arr: npt.NDArray[int], shape: tuple[int, int]) -> list[int]:
     return [val for channel in cv2.resize(arr, shape).transpose(2, 0, 1) for y_col in channel for val in y_col]
 
 
@@ -289,7 +289,7 @@ class PipelineController:
     Pipeline controller that drive camera device
     """
 
-    def __init__(self, img_width: int, img_height: int, frame_processor: FrameProcessor,
+    def __init__(self, frame_processor: FrameProcessor,
                  object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN):
         self._pipeline = self._configure_pipeline()
         self._frame_processor = frame_processor
@@ -319,8 +319,8 @@ class PipelineController:
         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())
+            logger.info('Connected cameras: %s', str(device.getConnectedCameras()))
-            logger.info("output queues found: %s", device.getOutputQueueNames())
+            logger.info("output queues found: %s", str(device.getOutputQueueNames()))
 
             device.startPipeline()
             # Queues
@@ -361,7 +361,7 @@ class PipelineController:
         self._stop = True
 
 
-def _bbox_to_object(bbox: np.array, score: float) -> events.events_pb2.Object:
+def _bbox_to_object(bbox: npt.NDArray[np.float64], score: float) -> events.events_pb2.Object:
     obj = events.events_pb2.Object()
     obj.type = events.events_pb2.TypeObject.ANY
     obj.top = bbox[0].astype(float)

camera/tests/test_depthai.py

@@ -58,12 +58,12 @@ class TestObjectProcessor:
     def raw_objects_one(self, mocker: pytest_mock.MockerFixture, object1: Object) -> dai.NNData:
         def mock_return(name):
             if name == "ExpandDims":  # Detection boxes
-                boxes = [[0] * 4] * 100
+                boxes: list[list[float]] = [[0.] * 4] * 100
                 boxes[0] = [object1["top"], object1["left"], object1["bottom"], object1["right"]]
                 return np.array(boxes)
 
             elif name == "ExpandDims_2":  # Detection scores
-                scores = [0] * 100
+                scores: list[float] = [0.] * 100
                 scores[0] = object1["score"]
                 return scores
             else:

mypy.ini

@@ -0,0 +1,2 @@
+[mypy]
+plugins = numpy.typing.mypy_plugin

pyproject.toml

@@ -6,7 +6,6 @@ authors = ["Cyrille Nofficial <cynoffic@cyrilix.fr>"]
 readme = "README.md"
 packages = [
     { include = "camera" },
-    { include = "events" },
 ]
 
 [tool.poetry.dependencies]
@@ -18,6 +17,7 @@ google = "^3.0.0"
 blobconverter = "^1.3.0"
 protobuf = "^4.21.8"
 opencv-python-headless = "^4.6.0.66"
+robocar-protobuf = { version = "^1.1.1", source = "robocar" }
 
 
 [tool.poetry.group.test.dependencies]
@@ -27,6 +27,16 @@ pytest-mock = "^3.10.0"
 
 [tool.poetry.group.dev.dependencies]
 pylint = "^2.15.4"
+mypy = "^0.982"
+types-paho-mqtt = "^1.6.0.1"
+types-protobuf = "^3.20.4.2"
+
+
+[[tool.poetry.source]]
+name = "robocar"
+url = "https://git.cyrilix.bzh/api/packages/robocars/pypi/simple"
+default = false
+secondary = false
 
 [build-system]
 requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning"]