Python向けのlinter/formatterをruffで統一する

.pre-commit-config.yaml

@@ -59,11 +59,12 @@ repos:
 #    hooks:
 #      - id: isort
 
-  - repo: https://github.com/psf/black
-    rev: 24.10.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.4
     hooks:
-      - id: black
-        args: [--line-length=99, --skip-string-normalization]
+      - id: ruff
+        args: [--fix]
+      - id: ruff-format
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v17.0.6

consai_ros2/consai_visualizer/package.xml

@@ -18,7 +18,7 @@
   <exec_depend>rqt_py_common</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>crane_lint_common</test_depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>

consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py

@@ -38,7 +38,6 @@
 
 
 class FieldWidget(QWidget):
-
     def __init__(self, parent=None):
         super(FieldWidget, self).__init__(parent)
 
@@ -62,7 +61,9 @@ def __init__(self, parent=None):
         self._draw_area_size = QSizeF(self.rect().size())  # 描画領域サイズ
         self._scale_field_to_draw = 1.0  # フィールド領域から描画領域に縮小するスケール
         self._do_rotate_draw_area = False  # 描画領域を90度回転するフラグ
-        self._mouse_clicked_point = QPointF(0.0, 0.0)  # マウスでクリックした描画領域の座標
+        self._mouse_clicked_point = QPointF(
+            0.0, 0.0
+        )  # マウスでクリックした描画領域の座標
         self._mouse_current_point = QPointF(0.0, 0.0)  # マウスカーソルの現在座標
         self._mouse_drag_offset = QPointF(0.0, 0.0)  # マウスでドラッグした距離
         self._previous_update_time = datetime.datetime.now()  # 前回の描画時刻
@@ -77,7 +78,9 @@ def set_invert(self, param):
         self._invert = param
 
     def set_visualizer_objects(self, msg):
-        self._visualizer_objects.setdefault(msg.z_order, {})[(msg.layer, msg.sub_layer)] = msg
+        self._visualizer_objects.setdefault(msg.z_order, {})[
+            (msg.layer, msg.sub_layer)
+        ] = msg
 
     def set_active_layers(self, layers: list[tuple[str, str]]):
         self._active_layers = layers
@@ -167,7 +170,7 @@ def paintEvent(self, event):
         painter = QPainter(self)
 
         # 背景色をセット
-        painter.setBrush(QColor('darkgreen'))
+        painter.setBrush(QColor("darkgreen"))
         painter.drawRect(self.rect())
 
         painter.save()
@@ -184,7 +187,7 @@ def paintEvent(self, event):
         if self._do_rotate_draw_area is True:
             painter.rotate(-90)
 
-        draw_caption = ('caption', 'caption') in self._active_layers
+        draw_caption = ("caption", "caption") in self._active_layers
         self._draw_objects_on_transformed_area(painter, draw_caption)
         self._draw_visualizer_info_on_transformed_area(painter)
 
@@ -228,13 +231,19 @@ def _resize_draw_area(self):
         else:
             # 描画回転にヒステリシスをもたせる
             if self._do_rotate_draw_area is True:
-                self._draw_area_size = QSizeF(widget_height, widget_height * field_h_per_w)
+                self._draw_area_size = QSizeF(
+                    widget_height, widget_height * field_h_per_w
+                )
             else:
-                self._draw_area_size = QSizeF(widget_width, widget_width * field_h_per_w)
+                self._draw_area_size = QSizeF(
+                    widget_width, widget_width * field_h_per_w
+                )
 
         self._scale_field_to_draw = self._draw_area_size.width() / field_full_width
 
-    def _draw_text(self, painter: QPainter, pos: QPointF, text: str, font_size: int = 10):
+    def _draw_text(
+        self, painter: QPainter, pos: QPointF, text: str, font_size: int = 10
+    ):
         # 回転を考慮したテキスト描画関数
         painter.save()
         font = painter.font()
@@ -261,7 +270,9 @@ def _to_qcolor(self, color: VisColor):
         output.setAlphaF(color.alpha)
         return output
 
-    def _draw_objects_on_transformed_area(self, painter: QPainter, draw_caption: bool = False):
+    def _draw_objects_on_transformed_area(
+        self, painter: QPainter, draw_caption: bool = False
+    ):
         # 描画領域の移動や拡大を考慮した座標系でオブジェクトを描画する
         for z_order in sorted(self._visualizer_objects):
             for active_layer in self._active_layers:
@@ -312,13 +323,15 @@ def _draw_visualizer_info_on_transformed_area(self, painter: QPainter):
             drag_line.p2.x = current_point.x()
             drag_line.p2.y = current_point.y()
             drag_line.size = 4
-            drag_line.color.name = 'lightsalmon'
-            drag_line.caption = 'dist: {:.1f} : {:.1f}, theta: {:.1f}'.format(
+            drag_line.color.name = "lightsalmon"
+            drag_line.caption = "dist: {:.1f} : {:.1f}, theta: {:.1f}".format(
                 distance.x(), distance.y(), theta_deg
             )
             self._draw_shape_line(painter, drag_line, True)
 
-    def _draw_objects_on_window_area(self, painter: QPainter, draw_caption: bool = False):
+    def _draw_objects_on_window_area(
+        self, painter: QPainter, draw_caption: bool = False
+    ):
         # ウィンドウ領域にオブジェクトを描画する
         for z_order in sorted(self._visualizer_objects):
             for active_layer in self._active_layers:
@@ -335,25 +348,27 @@ def _draw_visualizer_info_on_window_area(self, painter: QPainter):
         # フレームレートを描画
         time_diff = datetime.datetime.now() - self._previous_update_time
         self._frame_rate_buffer.append(1.0 / time_diff.total_seconds())
-        average_frame_rate = sum(self._frame_rate_buffer) / self._frame_rate_buffer.maxlen
+        average_frame_rate = (
+            sum(self._frame_rate_buffer) / self._frame_rate_buffer.maxlen
+        )
         self._previous_update_time = datetime.datetime.now()
         annotation = ShapeAnnotation()
-        annotation.text = 'FPS: {:.1f}'.format(average_frame_rate)
+        annotation.text = "FPS: {:.1f}".format(average_frame_rate)
         annotation.normalized_x = 0.0
         annotation.normalized_y = 0.95
         annotation.normalized_width = 0.1
         annotation.normalized_height = 0.05
-        annotation.color.name = 'white'
+        annotation.color.name = "white"
         self._draw_shape_annotation(painter, annotation)
 
         # カーソル位置を描画
         cursor_pos = self._convert_draw_to_field_pos(self._mouse_current_point)
         if self._invert:
-            annotation.text = 'inv'
-            annotation.color.name = 'lightcoral'
+            annotation.text = "inv"
+            annotation.color.name = "lightcoral"
         else:
-            annotation.text = 'pos'
-        annotation.text += ' {:.2f} : {:.2f}'.format(cursor_pos.x(), cursor_pos.y())
+            annotation.text = "pos"
+        annotation.text += " {:.2f} : {:.2f}".format(cursor_pos.x(), cursor_pos.y())
         annotation.normalized_x = 0.1
         self._draw_shape_annotation(painter, annotation)
 
@@ -365,15 +380,17 @@ def _draw_shape_annotation(
         TARGET_WIDTH = shape.normalized_width * self.width()
         TARGET_HEIGHT = shape.normalized_height * self.height()
 
-        if shape.text == '':
+        if shape.text == "":
             return
 
         painter.save()
 
         # TARGET_HEIGHTに合わせてフォントサイズを変更する
         font = painter.font()
         font_metrics = QFontMetrics(font)
-        height_fit_point_size = font.pointSizeF() * TARGET_HEIGHT / font_metrics.height()
+        height_fit_point_size = (
+            font.pointSizeF() * TARGET_HEIGHT / font_metrics.height()
+        )
         font.setPointSizeF(height_fit_point_size)
         font_metrics = QFontMetrics(font)
 
@@ -396,15 +413,19 @@ def _draw_shape_annotation(
 
         painter.restore()
 
-    def _draw_shape_point(self, painter: QPainter, shape: ShapePoint, draw_caption: bool = False):
+    def _draw_shape_point(
+        self, painter: QPainter, shape: ShapePoint, draw_caption: bool = False
+    ):
         painter.setPen(QPen(self._to_qcolor(shape.color), shape.size))
         point = self._convert_field_to_draw_point(shape.x, shape.y)
         painter.drawPoint(point)
 
         if draw_caption:
             self._draw_text(painter, point, shape.caption)
 
-    def _draw_shape_line(self, painter: QPainter, shape: ShapeLine, draw_caption: bool = False):
+    def _draw_shape_line(
+        self, painter: QPainter, shape: ShapeLine, draw_caption: bool = False
+    ):
         painter.setPen(QPen(self._to_qcolor(shape.color), shape.size))
         p1 = self._convert_field_to_draw_point(shape.p1.x, shape.p1.y)
         p2 = self._convert_field_to_draw_point(shape.p2.x, shape.p2.y)
@@ -417,7 +438,9 @@ def _draw_shape_line(self, painter: QPainter, shape: ShapeLine, draw_caption: bo
             )
             self._draw_text(painter, p_mid, shape.caption)
 
-    def _draw_shape_arc(self, painter: QPainter, shape: ShapeArc, draw_caption: bool = False):
+    def _draw_shape_arc(
+        self, painter: QPainter, shape: ShapeArc, draw_caption: bool = False
+    ):
         painter.setPen(QPen(self._to_qcolor(shape.color), shape.size))
 
         top_left = self._convert_field_to_draw_point(
@@ -476,7 +499,9 @@ def _draw_shape_circle(
             )
             self._draw_text(painter, bottom, shape.caption)
 
-    def _draw_shape_tube(self, painter: QPainter, shape: ShapeTube, draw_caption: bool = False):
+    def _draw_shape_tube(
+        self, painter: QPainter, shape: ShapeTube, draw_caption: bool = False
+    ):
         painter.setPen(QPen(self._to_qcolor(shape.line_color), shape.line_size))
         painter.setBrush(self._to_qcolor(shape.fill_color))
 
@@ -524,7 +549,9 @@ def _draw_shape_tube(self, painter: QPainter, shape: ShapeTube, draw_caption: bo
         if draw_caption:
             self._draw_text(painter, bottom_left, shape.caption)
 
-    def _draw_shape_robot(self, painter: QPainter, shape: ShapeRobot, draw_caption: bool = False):
+    def _draw_shape_robot(
+        self, painter: QPainter, shape: ShapeRobot, draw_caption: bool = False
+    ):
         painter.setPen(QPen(self._to_qcolor(shape.line_color), shape.line_size))
         painter.setBrush(self._to_qcolor(shape.fill_color))