From b10d4e32fed8597b6ac2c9634efbe3594de5b9b4 Mon Sep 17 00:00:00 2001
From: ototadana <ototadana@gmail.com>
Date: Sat, 18 Jun 2022 18:04:34 +0900
Subject: [PATCH] add type hints

---
 dashboard.py               |  7 +++++--
 drone_command_requester.py |  7 +++++--
 drone_state_receiver.py    | 10 +++++++---
 drone_video_receiver.py    |  7 +++++--
 info.py                    | 40 +++++++++++++++++++++++++-------------
 runnable.py                |  6 ++++++
 runner.py                  |  6 +++++-
 startable.py               |  6 ++++++
 8 files changed, 65 insertions(+), 24 deletions(-)
 create mode 100644 runnable.py
 create mode 100644 startable.py

diff --git a/dashboard.py b/dashboard.py
index 5ebf302..87c8104 100644
--- a/dashboard.py
+++ b/dashboard.py
@@ -3,9 +3,12 @@
 import PySimpleGUI as sg
 from PIL import Image, ImageTk
 
+from info import Info
+from runnable import Runnable
 
-class Dashboard:
-    def run(self, info):
+
+class Dashboard(Runnable):
+    def run(self, info: Info) -> None:
         DISPLAY_SIZE = (800, 600)
         layout = [
             [sg.Image(filename="", key="image", size=DISPLAY_SIZE)],
diff --git a/drone_command_requester.py b/drone_command_requester.py
index ad2f7f1..669f744 100644
--- a/drone_command_requester.py
+++ b/drone_command_requester.py
@@ -1,9 +1,12 @@
 import socket
 import time
 
+from info import Info
+from startable import Startable
 
-class DroneCommandRequester:
-    def start(self, info):
+
+class DroneCommandRequester(Startable):
+    def start(self, info: Info) -> None:
         DRONE_ADDRESS = ("192.168.10.1", 8889)
         sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         sock.bind(("", 8889))
diff --git a/drone_state_receiver.py b/drone_state_receiver.py
index fa891f6..4950153 100644
--- a/drone_state_receiver.py
+++ b/drone_state_receiver.py
@@ -1,8 +1,12 @@
+from __future__ import annotations
 import socket
 
+from info import Info
+from startable import Startable
 
-class DroneStateReceiver:
-    def start(self, info):
+
+class DroneStateReceiver(Startable):
+    def start(self, info: Info) -> None:
         state_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         state_sock.bind(("", 8890))
 
@@ -14,7 +18,7 @@ def start(self, info):
                 print("\nExit . . .\n")
                 break
 
-    def __get_drone_state(self, data):
+    def __get_drone_state(self, data: bytes) -> dict[str, float]:
         s = data.decode(errors="replace")
         values = s.split(";")
         state = {}
diff --git a/drone_video_receiver.py b/drone_video_receiver.py
index 3833451..3691004 100644
--- a/drone_video_receiver.py
+++ b/drone_video_receiver.py
@@ -1,8 +1,11 @@
 import cv2
 
+from info import Info
+from startable import Startable
 
-class DroneVideoReceiver:
-    def start(self, info):
+
+class DroneVideoReceiver(Startable):
+    def start(self, info: Info) -> None:
         cap = cv2.VideoCapture("udp://0.0.0.0:11111?overrun_nonfatal=1")
 
         while info.is_active():
diff --git a/info.py b/info.py
index b260c06..a7983c5 100644
--- a/info.py
+++ b/info.py
@@ -1,5 +1,17 @@
+from __future__ import annotations
+
+from cv2 import Mat
+
+
 class Info:
-    def __init__(self):
+    __state: dict[str, float]
+    __is_active: bool
+    __image: Mat
+    __command: str
+    __sent_command: str
+    __result: str
+
+    def __init__(self) -> None:
         self.__state = {}
         self.__is_active = True
         self.__image = None
@@ -7,43 +19,43 @@ def __init__(self):
         self.__sent_command = ""
         self.__result = ""
 
-    def set_states(self, states):
+    def set_states(self, states: dict[str, float]) -> None:
         self.__state = states
 
-    def get_states(self):
+    def get_states(self) -> dict[str, float]:
         return self.__state
 
-    def get_state(self, name):
+    def get_state(self, name: str) -> float:
         return self.__state.get(name, 0.0)
 
-    def is_active(self):
+    def is_active(self) -> bool:
         return self.__is_active
 
-    def stop(self):
+    def stop(self) -> None:
         self.__is_active = False
 
-    def set_image(self, image):
+    def set_image(self, image: Mat) -> None:
         self.__image = image
 
-    def get_image(self):
+    def get_image(self) -> Mat:
         return self.__image
 
-    def entry_command(self, command):
+    def entry_command(self, command: str) -> None:
         self.__command = command
 
-    def pick_command(self):
+    def pick_command(self) -> str:
         command = self.__command
         self.__command = ""
         return command
 
-    def set_sent_command(self, command):
+    def set_sent_command(self, command: str) -> None:
         self.__sent_command = command
 
-    def get_sent_command(self):
+    def get_sent_command(self) -> str:
         return self.__sent_command
 
-    def set_command_result(self, result):
+    def set_command_result(self, result: str) -> None:
         self.__result = result
 
-    def get_command_result(self):
+    def get_command_result(self) -> str:
         return self.__result
diff --git a/runnable.py b/runnable.py
new file mode 100644
index 0000000..02acca2
--- /dev/null
+++ b/runnable.py
@@ -0,0 +1,6 @@
+from info import Info
+
+
+class Runnable:
+    def run(self, info: Info) -> None:
+        pass
diff --git a/runner.py b/runner.py
index 61715bf..9b3a73f 100644
--- a/runner.py
+++ b/runner.py
@@ -1,10 +1,14 @@
+from __future__ import annotations
+
 from threading import Thread
 
 from info import Info
+from runnable import Runnable
+from startable import Startable
 
 
 class Runner:
-    def run(self, startables, runnable):
+    def run(self, startables: list[Startable], runnable: Runnable) -> None:
         info = Info()
 
         for startable in startables:
diff --git a/startable.py b/startable.py
new file mode 100644
index 0000000..bdd254a
--- /dev/null
+++ b/startable.py
@@ -0,0 +1,6 @@
+from info import Info
+
+
+class Startable:
+    def start(self, info: Info) -> None:
+        pass