feat: add ruff as formatting tool, remove unnecessary ones

.pre-commit-config.yaml

@@ -23,25 +23,12 @@ repos:
     hooks:
       - id: shellcheck
 
-  - repo: https://github.com/pycqa/autoflake
-    rev: v2.3.1
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.9.4
     hooks:
-      - id: autoflake
-        args: ["--remove-all-unused-imports", "--in-place"]
-
-  - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
-    hooks:
-      - id: isort
-        args: ["--profile", "black", "--filter-files"]
-
-  - repo: https://github.com/psf/black
-    rev: 24.4.2
-    hooks:
-      - id: black
-
-  - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
-    hooks:
-      - id: flake8
-        args: ["--ignore=E501,E731,W503,W504,E203"]
+      # Run the linter.
+      - id: ruff
+        args: [--extend-select, "I,RUF022", --fix, --ignore, E731]
+      # Run the formatter.
+      - id: ruff-format

src/rai/rai/agents/__init__.py

@@ -19,7 +19,7 @@
 
 __all__ = [
     "ToolRunner",
+    "VoiceRecognitionAgent",
     "create_conversational_agent",
     "create_state_based_agent",
-    "VoiceRecognitionAgent",
 ]

src/rai/rai/agents/integrations/streamlit.py

@@ -125,7 +125,7 @@ def on_tool_end(self, output: Any, **kwargs: Any) -> Any:
 
     # Decorator function to add the Streamlit execution context to a function
     def add_streamlit_context(
-        fn: Callable[..., fn_return_type]
+        fn: Callable[..., fn_return_type],
     ) -> Callable[..., fn_return_type]:
         """
         Decorator to ensure that the decorated function runs within the Streamlit execution context.

src/rai/rai/agents/voice_agent.py

@@ -187,7 +187,9 @@ def should_record(
     def transcription_thread(self, identifier: str):
         self.logger.info(f"transcription thread {identifier} started")
         audio_data = np.concatenate(self.transcription_buffers[identifier])
-        with self.transcription_lock:  # this is only necessary for the local model... TODO: fix this somehow
+        with (
+            self.transcription_lock
+        ):  # this is only necessary for the local model... TODO: fix this somehow
             transcription = self.transcription_model.transcribe(audio_data)
         assert isinstance(self.connectors["ros2"], ROS2ARIConnector)
         self.connectors["ros2"].send_message(

src/rai/rai/apps/state_analyzer.py

@@ -39,7 +39,6 @@ def robot_state_analyzer(
     state: str,
     state_analyzer_prompt: str = STATE_ANALYZER_PROMPT,
 ) -> State:
-
     template = ChatPromptTemplate.from_messages(
         [
             ("system", state_analyzer_prompt),

src/rai/rai/apps/talk_to_docs.py

@@ -78,7 +78,9 @@ def talk_to_docs(documentation_root: str, llm: BaseChatModel):
 
     agent = create_tool_calling_agent(llm, [query_docs], prompt)  # type: ignore
     agent_executor = AgentExecutor(
-        agent=agent, tools=[query_docs], return_intermediate_steps=True  # type: ignore
+        agent=agent,
+        tools=[query_docs],
+        return_intermediate_steps=True,  # type: ignore
     )
 
     def input_node(state: State) -> State:

src/rai/rai/communication/__init__.py

@@ -25,8 +25,8 @@
 __all__ = [
     "ARIConnector",
     "ARIMessage",
-    "BaseMessage",
     "BaseConnector",
+    "BaseMessage",
     "HRIConnector",
     "HRIMessage",
     "HRIPayload",

src/rai/rai/communication/base_connector.py

@@ -39,7 +39,6 @@ def __init__(
 
 
 class BaseConnector(Generic[T]):
-
     def _generate_handle(self) -> str:
         return str(uuid4())
 

src/rai/rai/communication/hri_connector.py

@@ -17,9 +17,8 @@
 from io import BytesIO
 from typing import Generic, Literal, Sequence, TypeVar, get_args
 
-from langchain_core.messages import AIMessage
+from langchain_core.messages import AIMessage, HumanMessage
 from langchain_core.messages import BaseMessage as LangchainBaseMessage
-from langchain_core.messages import HumanMessage
 from PIL import Image
 from PIL.Image import Image as ImageType
 from pydub import AudioSegment
@@ -164,7 +163,6 @@ def _build_message(
         self,
         message: LangchainBaseMessage | RAIMultimodalMessage,
     ) -> T:
-
         return self.T_class.from_langchain(message)
 
     def send_all_targets(self, message: LangchainBaseMessage | RAIMultimodalMessage):

src/rai/rai/communication/ros2/api.py

@@ -469,7 +469,7 @@ def is_goal_done(self, handle: str) -> bool:
             raise ValueError(f"Invalid action handle: {handle}")
         if self.actions[handle]["result_future"] is None:
             raise ValueError(
-                f"Result future is None for handle: {handle}. " "Was the goal accepted?"
+                f"Result future is None for handle: {handle}. Was the goal accepted?"
             )
         return self.actions[handle]["result_future"].done()
 

src/rai/rai/communication/ros2/connectors.py

@@ -64,7 +64,6 @@ def send_message(
         qos_profile: Optional[QoSProfile] = None,
         **kwargs: Any,
     ):
-
         self._topic_api.publish(
             topic=target,
             msg_content=message.payload,

src/rai/rai/communication/sound_device/__init__.py

@@ -18,6 +18,6 @@
 __all__ = [
     "SoundDeviceAPI",
     "SoundDeviceConfig",
-    "SoundDeviceError",
     "SoundDeviceConnector",
+    "SoundDeviceError",
 ]

src/rai/rai/communication/sound_device/api.py

@@ -49,7 +49,6 @@ def __post_init__(self):
 
 
 class SoundDeviceAPI:
-
     def __init__(self, config: SoundDeviceConfig):
         self.device_name = ""
 

src/rai/rai/messages/__init__.py

@@ -23,10 +23,10 @@
 from .utils import preprocess_image
 
 __all__ = [
-    "HumanMultimodalMessage",
     "AiMultimodalMessage",
+    "HumanMultimodalMessage",
+    "MultimodalArtifact",
     "SystemMultimodalMessage",
     "ToolMultimodalMessage",
-    "MultimodalArtifact",
     "preprocess_image",
 ]

src/rai/rai/messages/multimodal.py

@@ -72,7 +72,7 @@ def __repr_args__(self) -> Any:
                 v = [c for c in v if c["type"] != "image_url"]
             elif k == "images":
                 imgs_summary = [image[0:10] + "..." for image in v]
-                v = f'{len(v)} base64 encoded images: [{", ".join(imgs_summary)}]'
+                v = f"{len(v)} base64 encoded images: [{', '.join(imgs_summary)}]"
             new_args.append((k, v))
         return new_args
 

src/rai/rai/node.py

@@ -303,7 +303,6 @@ async def agent_loop(self, goal_handle: ServerGoalHandle):
                     "callbacks": get_tracing_callbacks(),
                 },
             ):
-
                 graph_node_name = list(state.keys())[0]
                 if graph_node_name == "reporter":
                     continue

src/rai/rai/tools/ros/__init__.py

@@ -29,15 +29,15 @@
 )
 
 __all__ = [
+    "AddDescribedWaypointToDatabaseTool",
+    "GetCurrentPositionTool",
+    "GetOccupancyGridTool",
+    "Ros2BaseInput",
+    "Ros2BaseTool",
     "ros2_action",
     "ros2_interface",
     "ros2_node",
-    "ros2_topic",
     "ros2_param",
     "ros2_service",
-    "Ros2BaseTool",
-    "Ros2BaseInput",
-    "AddDescribedWaypointToDatabaseTool",
-    "GetOccupancyGridTool",
-    "GetCurrentPositionTool",
+    "ros2_topic",
 ]

src/rai/rai/tools/ros/deprecated.py

@@ -104,7 +104,9 @@ def __init__(
 
     def postprocess(self, msg: Image) -> str:
         bridge = CvBridge()
-        cv_image = cast(cv2.Mat, bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough"))  # type: ignore
+        cv_image = cast(
+            cv2.Mat, bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+        )  # type: ignore
         if cv_image.shape[-1] == 4:
             cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGRA2RGB)
             base64_image = base64.b64encode(

src/rai/rai/tools/ros/native_actions.py

@@ -60,9 +60,7 @@ class Ros2BaseActionTool(Ros2BaseTool):
 
 class Ros2RunActionSync(Ros2BaseTool):
     name: str = "Ros2RunAction"
-    description: str = (
-        "A tool for running a ros2 action. Make sure you know the action interface first!!! Actions might take some time to execute and are blocking - you will not be able to check their feedback, only will be informed about the result"
-    )
+    description: str = "A tool for running a ros2 action. Make sure you know the action interface first!!! Actions might take some time to execute and are blocking - you will not be able to check their feedback, only will be informed about the result"
 
     args_schema: Type[Ros2ActionRunnerInput] = Ros2ActionRunnerInput
 
@@ -176,9 +174,7 @@ def _run(self) -> bool:
 
 class Ros2GetLastActionFeedback(Ros2BaseActionTool):
     name: str = "Ros2GetLastActionFeedback"
-    description: str = (
-        "Action feedback is an optional intermediate information from ros2 action. With this tool you can get the last feedback of running action."
-    )
+    description: str = "Action feedback is an optional intermediate information from ros2 action. With this tool you can get the last feedback of running action."
 
     args_schema: Type[Ros2BaseInput] = Ros2BaseInput
 

src/rai/rai/tools/ros/tools.py

@@ -98,9 +98,7 @@ class GetOccupancyGridTool(BaseTool):
     """Get the current map as an image with the robot's position marked on it (red dot)."""
 
     name: str = "GetOccupancyGridTool"
-    description: str = (
-        "A tool for getting the current map as an image with the robot's position marked on it."
-    )
+    description: str = "A tool for getting the current map as an image with the robot's position marked on it."
 
     args_schema: Type[TopicInput] = TopicInput
 

src/rai/rai/tools/ros2/__init__.py

@@ -24,13 +24,13 @@
 )
 
 __all__ = [
-    "StartROS2ActionTool",
-    "GetROS2ImageTool",
-    "PublishROS2MessageTool",
-    "ReceiveROS2MessageTool",
     "CallROS2ServiceTool",
     "CancelROS2ActionTool",
-    "GetROS2TopicsNamesAndTypesTool",
+    "GetROS2ImageTool",
     "GetROS2MessageInterfaceTool",
+    "GetROS2TopicsNamesAndTypesTool",
     "GetROS2TransformTool",
+    "PublishROS2MessageTool",
+    "ReceiveROS2MessageTool",
+    "StartROS2ActionTool",
 ]

src/rai/rai/tools/ros2/topics.py

@@ -98,7 +98,9 @@ def _run(self, topic: str) -> Tuple[str, MultimodalArtifact]:
             raise ValueError(
                 f"Unsupported message type: {message.metadata['msg_type']}"
             )
-        return "Image received successfully", MultimodalArtifact(images=[preprocess_image(image)])  # type: ignore
+        return "Image received successfully", MultimodalArtifact(
+            images=[preprocess_image(image)]
+        )  # type: ignore
 
 
 class GetROS2TopicsNamesAndTypesTool(BaseTool):

src/rai/rai/tools/utils.py

@@ -249,7 +249,9 @@ def __init__(
 
     def postprocess(self, msg: Image) -> str:
         bridge = CvBridge()
-        cv_image = cast(cv2.Mat, bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough"))  # type: ignore
+        cv_image = cast(
+            cv2.Mat, bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+        )  # type: ignore
         if cv_image.shape[-1] == 4:
             cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGRA2RGB)
             base64_image = base64.b64encode(

src/rai/rai/utils/configurator.py

@@ -316,19 +316,19 @@ def on_model_vendor_change(model_type: str):
     )
 
     def on_langfuse_change():
-        st.session_state.config["tracing"]["langfuse"][
-            "use_langfuse"
-        ] = st.session_state.langfuse_checkbox
+        st.session_state.config["tracing"]["langfuse"]["use_langfuse"] = (
+            st.session_state.langfuse_checkbox
+        )
 
     def on_langfuse_host_change():
-        st.session_state.config["tracing"]["langfuse"][
-            "host"
-        ] = st.session_state.langfuse_host_input
+        st.session_state.config["tracing"]["langfuse"]["host"] = (
+            st.session_state.langfuse_host_input
+        )
 
     def on_langsmith_change():
-        st.session_state.config["tracing"]["langsmith"][
-            "use_langsmith"
-        ] = st.session_state.langsmith_checkbox
+        st.session_state.config["tracing"]["langsmith"]["use_langsmith"] = (
+            st.session_state.langsmith_checkbox
+        )
 
     # Ensure tracing config exists
     if "tracing" not in st.session_state.config:
@@ -397,9 +397,9 @@ def on_langsmith_change():
 elif st.session_state.current_step == 4:
 
     def on_recording_device_change():
-        st.session_state.config["asr"][
-            "recording_device_name"
-        ] = st.session_state.recording_device_select
+        st.session_state.config["asr"]["recording_device_name"] = (
+            st.session_state.recording_device_select
+        )
 
     def on_asr_vendor_change():
         vendor = (
@@ -413,29 +413,29 @@ def on_language_change():
         st.session_state.config["asr"]["language"] = st.session_state.language_input
 
     def on_silence_grace_change():
-        st.session_state.config["asr"][
-            "silence_grace_period"
-        ] = st.session_state.silence_grace_input
+        st.session_state.config["asr"]["silence_grace_period"] = (
+            st.session_state.silence_grace_input
+        )
 
     def on_vad_threshold_change():
-        st.session_state.config["asr"][
-            "vad_threshold"
-        ] = st.session_state.vad_threshold_input
+        st.session_state.config["asr"]["vad_threshold"] = (
+            st.session_state.vad_threshold_input
+        )
 
     def on_wake_word_change():
-        st.session_state.config["asr"][
-            "use_wake_word"
-        ] = st.session_state.wake_word_checkbox
+        st.session_state.config["asr"]["use_wake_word"] = (
+            st.session_state.wake_word_checkbox
+        )
 
     def on_wake_word_model_change():
-        st.session_state.config["asr"][
-            "wake_word_model"
-        ] = st.session_state.wake_word_model_input
+        st.session_state.config["asr"]["wake_word_model"] = (
+            st.session_state.wake_word_model_input
+        )
 
     def on_wake_word_threshold_change():
-        st.session_state.config["asr"][
-            "wake_word_threshold"
-        ] = st.session_state.wake_word_threshold_input
+        st.session_state.config["asr"]["wake_word_threshold"] = (
+            st.session_state.wake_word_threshold_input
+        )
 
     # Ensure asr config exists
     if "asr" not in st.session_state.config:
@@ -588,9 +588,9 @@ def on_tts_vendor_change():
         st.session_state.config["tts"]["vendor"] = vendor
 
     def on_keep_speaker_busy_change():
-        st.session_state.config["tts"][
-            "keep_speaker_busy"
-        ] = st.session_state.keep_speaker_busy_checkbox
+        st.session_state.config["tts"]["keep_speaker_busy"] = (
+            st.session_state.keep_speaker_busy_checkbox
+        )
 
     # Ensure tts config exists
     if "tts" not in st.session_state.config:

src/rai_asr/rai_asr/asr_node.py

@@ -326,9 +326,7 @@ def initialize_sounddevice_stream(self):
         sd.default.latency = ("low", "low")
         self.device_sample_rate = sd.query_devices(
             device=self.recording_device_number, kind="input"
-        )[
-            "default_samplerate"
-        ]  # type: ignore
+        )["default_samplerate"]  # type: ignore
         self.window_size_samples = int(
             DEFAULT_BLOCKSIZE * self.device_sample_rate / VAD_SAMPLING_RATE
         )