chore: Stricter linting

.pre-commit-config.yaml

@@ -23,7 +23,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: "v0.1.2"
+    rev: "v0.1.3"
     hooks:
       - id: ruff
         args: ["--fix"]

pyproject.toml

@@ -39,21 +39,13 @@ build-backend = "hatchling.build"
 
 [tool.rye]
 managed = true
-dev-dependencies = [
-    "autopep8>=2.0.2",
-]
 
 [tool.hatch.version]
 path = "src/kappe/__init__.py"
 
 [tool.hatch.metadata]
 allow-direct-references = true
 
-[tool.autopep8]
-aggressive = 3
-recursive = true
-max_line_length = 100
-
 [tool.ruff]
 line-length = 100
 exclude = ['msgs']
@@ -66,25 +58,15 @@ ignore = [
     'D',       # pydocstyle
     'EM101',   # raw-string-in-exception
     'EM102',   # f-string-in-exception
+    'FIX002',  # TODO
     'PLR2004', # MagicValueComparisons
     'S101',    # AssertUsed
-    'TCH',     # flake8-type-checking
-    'TCH',     # flake8-type-checking
+    'TD',      # TODO
     'TRY003',  # raise-vanilla-args
-    'TD',
-    'FIX002',
-
 
     # formater
-    'W191', # tab-indentation
-    'Q000', # bad-quotes-inline-string
-    'Q001', # bad-quotes-multiline-string
-    'Q002', # bad-quotes-docstring
-    'Q003', # avoidable-escaped-quote
     'COM812', # missing-trailing-comma
-    'COM819', # prohibited-trailing-comma
     'ISC001', # single-line-implicit-string-concatenation
-    'E501', # line-too-long
 ]
 
 src = ['src']
@@ -94,12 +76,5 @@ target-version = 'py310'
 [tool.ruff.flake8-quotes]
 inline-quotes = 'single'
 
-[tool.ruff.flake8-annotations]
-mypy-init-return = true
-suppress-none-returning = true
-
-[tool.ruff.pep8-naming]
-classmethod-decorators = ["pydantic.validator"]
-
 [tool.ruff.format]
 quote-style = "single"

src/kappe/cli.py

@@ -17,7 +17,7 @@
 
 
 class TqdmLoggingHandler(logging.Handler):
-    def emit(self, record: Any):
+    def emit(self, record: Any) -> None:
         try:
             msg = self.format(record)
             tqdm.write(msg)
@@ -36,7 +36,7 @@ def emit(self, record: Any):
 logger = logging.getLogger(__name__)
 
 
-def convert_worker(arg: tuple[Path, Path, Settings, int]):
+def convert_worker(arg: tuple[Path, Path, Settings, int]) -> None:
     # TODO: dataclass
     input_path, output_path, config, tqdm_idx = arg
 
@@ -243,15 +243,9 @@ def cut(  # noqa: PLR0913
 
         cutter(mcap, output, config)
 
-    def version(self) -> None:
-        """
-        Print version.
-        """
-        logger.info('kappe %s', __version__)
-
 
 def main() -> None:
-    CLI(KappeCLI)
+    CLI(KappeCLI, version=__version__)
 
 
 if __name__ == '__main__':

src/kappe/convert.py

@@ -4,11 +4,10 @@
 from collections.abc import Iterable, Iterator
 from datetime import datetime, timezone
 from pathlib import Path
+from typing import TYPE_CHECKING
 
 import strictyaml
 from mcap.reader import DecodedMessageTuple, make_reader
-from mcap.records import Schema, Statistics
-from mcap.summary import Summary
 from mcap.well_known import Profile, SchemaEncoding
 from mcap_ros1.decoder import DecoderFactory as Ros1DecoderFactory
 from mcap_ros2.decoder import DecoderFactory as Ros2DecoderFactory
@@ -23,6 +22,10 @@
 from kappe.settings import Settings
 from kappe.utils.msg_def import get_message_definition
 
+if TYPE_CHECKING:
+    from mcap.records import Schema, Statistics
+    from mcap.summary import Summary
+
 logger = logging.getLogger(__name__)
 
 
@@ -51,7 +54,9 @@ def generate_qos(config: dict) -> str:
 
 
 class Converter:
-    def __init__(self, config: Settings, input_path: Path, output_path: Path, raw_config: str = ''):
+    def __init__(
+        self, config: Settings, input_path: Path, output_path: Path, raw_config: str = ''
+    ) -> None:
         self.config = config
         self.input_path = input_path
         self.output_path = output_path
@@ -103,7 +108,7 @@ def __init__(self, config: Settings, input_path: Path, output_path: Path, raw_co
 
         self.init_channel()
 
-    def init_schema(self):
+    def init_schema(self) -> None:
         for schema in self.summary.schemas.values():
             if schema.encoding not in [SchemaEncoding.ROS1, SchemaEncoding.ROS2]:
                 logger.warning(
@@ -159,7 +164,7 @@ def init_schema(self):
                 TF_SCHEMA_TEXT,
             )
 
-    def init_channel(self):
+    def init_channel(self) -> None:
         for channel in self.summary.channels.values():
             metadata = channel.metadata
             topic = channel.topic
@@ -272,7 +277,7 @@ def read_ros_messaged(
             end_time=int(end_time * 1e9) if end_time else None,
         )
 
-    def process_message(self, msg: DecodedMessageTuple):
+    def process_message(self, msg: DecodedMessageTuple) -> None:
         schema, channel, message, ros_msg = msg
         schema_name = schema.name
         topic = channel.topic
@@ -337,7 +342,7 @@ def process_message(self, msg: DecodedMessageTuple):
             sequence=message.sequence,
         )
 
-    def process_file(self, tqdm_idx: int = 0):
+    def process_file(self, tqdm_idx: int = 0) -> None:
         start_time = self.statistics.message_start_time / 1e9
         if self.config.time_start is not None:
             start_time = max(start_time, self.config.time_start)
@@ -440,7 +445,7 @@ def process_file(self, tqdm_idx: int = 0):
                 pbar.update((message.log_time / 1e9 - start_time) - pbar.n)
                 self.process_message(msg)
 
-    def finish(self):
+    def finish(self) -> None:
         # save used convert config
         self.writer._writer.add_attachment(  # noqa: SLF001
             create_time=time.time_ns(),

src/kappe/cut.py

@@ -48,7 +48,7 @@ def __init__(self, path: str, profile: str) -> None:
         self._writer = Writer(path)
         self._writer.start(profile=profile)
 
-    def set_static_tf(self, schema: Schema, channel: Channel, data: list[bytes]):
+    def set_static_tf(self, schema: Schema, channel: Channel, data: list[bytes]) -> None:
         self.static_tf_set = True
         self.static_tf_channel_id = self.register_channel(schema, channel)
         self.static_tf = data

src/kappe/module/pointcloud.py

@@ -21,7 +21,7 @@ class SettingPointCloud(BaseModel):
     field_mapping: dict[str, str] | None = None
 
 
-def point_cloud(cfg: SettingPointCloud, msg: DecodedMessageTuple):
+def point_cloud(cfg: SettingPointCloud, msg: DecodedMessageTuple) -> None:
     ros_msg = msg.decoded_message
 
     if cfg.field_mapping is not None:

src/kappe/module/tf.py

@@ -156,7 +156,7 @@ def tf_static_insert(cfg: SettingTF, stamp_ns: int) -> None | Any:
     return {'transforms': transforms}
 
 
-def tf_remove(cfg: SettingTF, msg: DecodedMessageTuple):
+def tf_remove(cfg: SettingTF, msg: DecodedMessageTuple) -> None:
     schema, channel, message, ros_msg = msg
 
     if cfg.remove:

src/kappe/module/timing.py

@@ -40,7 +40,7 @@ class SettingTimeOffset(BaseModel):
     update_publish_time: bool = False
 
 
-def time_offset_stamp(cfg: SettingTimeOffset, message: Message, stamp: TimeMsg):
+def time_offset_stamp(cfg: SettingTimeOffset, message: Message, stamp: TimeMsg) -> None:
     if cfg.pub_time:
         stamp_nano = message.publish_time
     else:
@@ -62,7 +62,7 @@ def time_offset_stamp(cfg: SettingTimeOffset, message: Message, stamp: TimeMsg):
         message.log_time = stamp_nano
 
 
-def time_offset_rec(cfg: SettingTimeOffset, message: Message, msg: Any):
+def time_offset_rec(cfg: SettingTimeOffset, message: Message, msg: Any) -> None:
     if not hasattr(msg, '__slots__'):
         return
 
@@ -79,15 +79,15 @@ def time_offset_rec(cfg: SettingTimeOffset, message: Message, msg: Any):
             time_offset_rec(cfg, message, attr)
 
 
-def time_offset(cfg: SettingTimeOffset, msg: DecodedMessageTuple):
+def time_offset(cfg: SettingTimeOffset, msg: DecodedMessageTuple) -> None:
     """Apply time offset to the message."""
     ros_msg = msg.decoded_message
     if not hasattr(msg, '__slots__'):
         return
     time_offset_rec(cfg, msg.message, ros_msg)
 
 
-def fix_ros1_time(msg: Any):
+def fix_ros1_time(msg: Any) -> None:
     """
     Fix ROS1 time and duration types, recursively inplace.
 

src/kappe/plugin.py

@@ -10,7 +10,7 @@
 
 
 class ConverterPlugin(ABC):
-    def __init__(self, **_kwargs: Any):
+    def __init__(self, **_kwargs: Any) -> None:
         self.logger = logging.getLogger(self.__class__.__name__)
 
     @property

src/kappe/plugins/image.py

@@ -15,7 +15,7 @@
 
 
 class CompressImage(ConverterPlugin):
-    def __init__(self, *, quality: int = 95):
+    def __init__(self, *, quality: int = 95) -> None:
         super().__init__()
         self.quality = quality
         self.logger.debug('quality=%d', quality)
@@ -36,7 +36,7 @@ def output_schema(self) -> str:
 
 
 class ReCompress(ConverterPlugin):
-    def __init__(self, *, quality: int = 10):
+    def __init__(self, *, quality: int = 10) -> None:
         self.quality = quality
 
     def convert(self, ros_msg: Any) -> Any:
@@ -56,7 +56,7 @@ def output_schema(self) -> str:
 
 
 class SaveCompress(ConverterPlugin):
-    def __init__(self, *, quality: int = 10):
+    def __init__(self, *, quality: int = 10) -> None:
         self.quality = quality
         self.counter = 0