refactor: streamline imports and enhance type hinting across multiple files

Author: MGross21

CONTRIBUTING.md

@@ -142,6 +142,16 @@ source .venv/bin/activate
 uv sync --dev
 ```
 
+**Testing with a Different Python Version:**
+
+To create a virtual environment with a specific Python version, use:
+
+```bash
+uv venv --clear --python 3.X
+```
+
+Replace `3.X` with your desired Python version (e.g., `3.10`).
+
 **Formatting Code:**
 
 To ensure consistency and code quality, run the following commands before submitting your changes:

armctl/_blank/robot.py

@@ -15,16 +15,17 @@
 
 # Universal Imports
 from __future__ import annotations
+
 import atexit
 import math
-from armctl.templates import Commands
-from armctl.templates import Properties
-from armctl.utils import units as uu
-from armctl.utils import CommandCheck as cc
+
+from armctl.templates import Commands, Properties
 
 # Choose one of the following Communication Methods
 # Uncomment the one you need and comment out the others
 from armctl.templates import SocketController as Communication
+from armctl.utils import CommandCheck as cc
+
 # from armctl.templates import PLCController as Communication
 # from armctl.templates import SerialController as Communication
 

armctl/dobot/dobot.py

@@ -1,9 +1,9 @@
+import math
+
+from armctl.templates import Commands, Properties
 from armctl.templates import SerialController as SCT
-from armctl.templates import Commands
-from armctl.templates import Properties
 from armctl.utils import CommandCheck as cc
 from armctl.utils import units as uu
-import math
 
 ### Notes ###
 # - Command Format: CMD(arg)

armctl/elephant_robotics/elephant_robotics.py

@@ -1,9 +1,9 @@
+from __future__ import annotations
+
 import time
 
-from armctl.templates import Commands
-from armctl.templates import Properties
+from armctl.templates import Commands, Properties
 from armctl.templates import SocketController as SCT
-
 from armctl.utils import CommandCheck as cc
 from armctl.utils import units as uu
 

armctl/elephant_robotics/mycobot.py

@@ -1,5 +1,4 @@
 from .elephant_robotics import ElephantRobotics, uu
-import math
 
 
 class Pro600(ElephantRobotics):

armctl/fanuc/fanuc.py

@@ -1,7 +1,5 @@
-from armctl.templates import Commands
-from armctl.templates import Properties
+from armctl.templates import Commands, Properties
 from armctl.templates import PLCController as PLC
-
 from armctl.utils import CommandCheck as cc
 
 

armctl/jaka/jaka.py

@@ -1,13 +1,14 @@
+from __future__ import annotations
+
 import ast
 import math
 import time
-from typing import Any, Dict, List, Union
+from typing import Any
 
+from armctl.templates import Commands, Properties
+from armctl.templates import SocketController as SCT
 from armctl.utils import CommandCheck as cc
 from armctl.utils import units as uu
-from armctl.templates import Commands
-from armctl.templates import Properties
-from armctl.templates import SocketController as SCT
 
 ### Notes ###
 # Command Format: dictionaries/json strings.
@@ -30,9 +31,7 @@ class Jaka(SCT, Commands, Properties):
     MAX_JOINT_VELOCITY = uu.deg2rad(180)  # rad/s
     MAX_JOINT_ACCELERATION = uu.deg2rad(720)  # rad/s^2
 
-    def __init__(
-        self, ip: str, port: Union[int, tuple[int, int]] = (10_001, 10_000)
-    ):
+    def __init__(self, ip: str, port: int | tuple[int, int] = (10_001, 10_000)):
         super().__init__(ip, port)
 
     def _response_handler(self, response: str) -> Any:
@@ -41,7 +40,7 @@ def _response_handler(self, response: str) -> Any:
         except (ValueError, SyntaxError) as e:
             raise RuntimeError(f"Failed to parse response: {response}") from e
 
-    def _send_and_check(self, cmd_dict: Dict[str, Any]) -> Dict[str, Any]:
+    def _send_and_check(self, cmd_dict: dict[str, Any]) -> dict[str, Any]:
         resp = self._response_handler(self.send_command(str(cmd_dict)))
         if not (
             isinstance(resp, dict)
@@ -76,7 +75,7 @@ def sleep(self, seconds: float) -> None:
         time.sleep(seconds)
 
     def move_joints(
-        self, pos: List[float], speed: float = 0.25, acceleration: float = 0.1
+        self, pos: list[float], speed: float = 0.25, acceleration: float = 0.1
     ) -> None:
         """
         Move the robot to the specified joint positions.
@@ -101,7 +100,7 @@ def move_joints(
         self._send_and_check(cmd)
 
     def move_cartesian(
-        self, pose: List[float], speed: float = 0.25, acceleration: float = 0.0
+        self, pose: list[float], speed: float = 0.25, acceleration: float = 0.0
     ) -> None:
         """
         Move the robot to the specified cartesian position.
@@ -124,7 +123,7 @@ def move_cartesian(
         }
         self._send_and_check(cmd)
 
-    def get_joint_positions(self) -> List[float]:
+    def get_joint_positions(self) -> list[float]:
         """
         Get the current joint positions of the robot.
         Returns
@@ -137,7 +136,7 @@ def get_joint_positions(self) -> List[float]:
         response = self._send_and_check(cmd)
         return [math.radians(angle) for angle in response["joint_pos"]]
 
-    def get_cartesian_position(self) -> List[float]:
+    def get_cartesian_position(self) -> list[float]:
         """
         Retrieves the current Cartesian position of the robot's tool center point (TCP).
         Returns
@@ -154,7 +153,7 @@ def stop_motion(self) -> None:
         cc.stop_motion()
         self._send_and_check({"cmdName": "stop_program"})
 
-    def get_robot_state(self) -> Dict[str, Any]:
+    def get_robot_state(self) -> dict[str, Any]:
         """
         Get the current state of the robot.
 

armctl/templates/__init__.py

@@ -10,7 +10,7 @@
 """
 
 from .commands import Commands
-from .properties import Properties
 from .plc_controller import PLCController
+from .properties import Properties
 from .serial_controller import SerialController
 from .socket_controller import SocketController

armctl/templates/commands.py

@@ -1,5 +1,6 @@
+from __future__ import annotations
+
 from abc import ABC, abstractmethod
-from typing import List, Union
 
 
 class Commands(ABC):
@@ -29,25 +30,25 @@ def sleep(self, seconds: float) -> None:
         pass
 
     @abstractmethod
-    def move_joints(self, pos: List[float]) -> None:
+    def move_joints(self, pos: list[float]) -> None:
         pass
 
     @abstractmethod
-    def get_joint_positions(self) -> List[float]:
+    def get_joint_positions(self) -> list[float]:
         pass
 
     @abstractmethod
-    def move_cartesian(self, pose: List[float]) -> None:
+    def move_cartesian(self, pose: list[float]) -> None:
         pass
 
     @abstractmethod
-    def get_cartesian_position(self) -> List[float]:
+    def get_cartesian_position(self) -> list[float]:
         pass
 
     @abstractmethod
     def stop_motion(self) -> None:
         pass
 
     @abstractmethod
-    def get_robot_state(self) -> Union[dict, str]:
+    def get_robot_state(self) -> dict | str:
         pass

armctl/templates/communication.py

@@ -1,5 +1,6 @@
+from __future__ import annotations
+
 from abc import ABC, abstractmethod
-from typing import Union
 
 
 class Communication(ABC):
@@ -25,7 +26,5 @@ def disconnect(self) -> None:
         pass
 
     @abstractmethod
-    def send_command(
-        self, command: Union[str, dict], timeout: float
-    ) -> Union[dict, str]:
+    def send_command(self, command: str | dict, timeout: float) -> dict | str:
         pass