fix(pyright): fix pyright linting issues

And then had to fix some mypy and pylint stuff

Author: amilcarlucas

ardupilot_methodic_configurator/backend_flightcontroller_commands.py

@@ -30,6 +30,9 @@
         FlightControllerConnectionProtocol,
         FlightControllerParamsProtocol,
     )
+    from ardupilot_methodic_configurator.backend_flightcontroller_protocols import (
+        MavlinkConnection as MavlinkConnectionType,
+    )
 
 
 class FlightControllerCommands:
@@ -78,7 +81,7 @@ def __init__(
         self._last_battery_message_time: float = 0.0
 
     @property
-    def master(self) -> Optional[mavutil.mavlink_connection]:
+    def master(self) -> "Optional[MavlinkConnectionType]":
         """Get master connection - delegates to connection manager."""
         return self._connection_manager.master
 
@@ -120,9 +123,9 @@ def send_command_and_wait_ack(  # pylint: disable=too-many-arguments,too-many-po
 
         try:
             # Send the command
-            self.master.mav.command_long_send(
-                self.master.target_system,
-                self.master.target_component,
+            self.master.mav.command_long_send(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_system,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_component,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
                 command,
                 0,  # confirmation
                 param1,
@@ -137,7 +140,9 @@ def send_command_and_wait_ack(  # pylint: disable=too-many-arguments,too-many-po
             # Wait for acknowledgment
             start_time = time_time()
             while time_time() - start_time < timeout:
-                msg = self.master.recv_match(type="COMMAND_ACK", blocking=False)
+                msg = self.master.recv_match(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                    type="COMMAND_ACK", blocking=False
+                )
                 if msg and msg.command == command:
                     # Map result codes to error messages
                     result_messages = {
@@ -301,9 +306,9 @@ def test_all_motors(self, nr_of_motors: int, throttle_percent: int, timeout_seco
 
         for i in range(nr_of_motors):
             # MAV_CMD_DO_MOTOR_TEST command for all motors
-            self.master.mav.command_long_send(
-                self.master.target_system,
-                self.master.target_component,
+            self.master.mav.command_long_send(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_system,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_component,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
                 mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
                 0,  # confirmation
                 param1=i + 1,  # motor number (1-based)
@@ -463,7 +468,9 @@ def get_battery_status(self) -> tuple[Union[tuple[float, float], None], str]:
 
         try:
             # Try to get real telemetry data
-            battery_status = self.master.recv_match(type="BATTERY_STATUS", blocking=False, timeout=self.BATTERY_STATUS_TIMEOUT)
+            battery_status = self.master.recv_match(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                type="BATTERY_STATUS", blocking=False, timeout=self.BATTERY_STATUS_TIMEOUT
+            )
             if battery_status:
                 # Convert from millivolts to volts, and centiamps to amps using pure business logic
                 voltage, current = convert_battery_telemetry_units(

ardupilot_methodic_configurator/backend_flightcontroller_connection.py

@@ -18,7 +18,7 @@
 from os import readlink as os_readlink
 from time import sleep as time_sleep
 from time import time as time_time
-from typing import Any, Callable, ClassVar, NoReturn, Optional, Union
+from typing import TYPE_CHECKING, Any, Callable, ClassVar, NoReturn, Optional, Union
 
 import serial.tools.list_ports
 import serial.tools.list_ports_common
@@ -29,6 +29,9 @@
 from ardupilot_methodic_configurator import _
 from ardupilot_methodic_configurator.data_model_flightcontroller_info import FlightControllerInfo
 
+if TYPE_CHECKING:
+    from ardupilot_methodic_configurator.backend_flightcontroller_protocols import MavlinkConnection
+
 
 class FakeSerialForTests:
     """
@@ -121,7 +124,7 @@ def __init__(
 
         """
         self.info = info
-        self.master: Optional[mavutil.mavlink_connection] = None
+        self.master: Optional[MavlinkConnection] = None
         self.comport: Union[mavutil.SerialPort, serial.tools.list_ports_common.ListPortInfo, None] = None
         self._baudrate = baudrate
         self._network_ports = network_ports or self.DEFAULT_NETWORK_PORTS
@@ -148,7 +151,7 @@ def disconnect(self) -> None:
         """Close the connection to the flight controller."""
         if self.master is not None:
             with contextlib.suppress(Exception):
-                self.master.close()
+                self.master.close()  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
             self.master = None
 
     def add_connection(self, connection_string: str) -> bool:
@@ -294,7 +297,7 @@ def _create_mavlink_connection(  # pylint: disable=too-many-arguments, too-many-
         timeout: int = 5,
         retries: int = 3,
         progress_callback: Union[None, Callable[[int, int], None]] = None,
-    ) -> mavutil.mavlink_connection:
+    ) -> mavutil.mavlink_connection:  # pyright: ignore[reportGeneralTypeIssues]
         """
         Factory method for creating MAVLink connections.
 
@@ -334,7 +337,13 @@ def _detect_vehicles_from_heartbeats(self, timeout: int) -> dict[tuple[int, int]
         detected_vehicles: dict[tuple[int, int], Any] = {}
 
         while time_time() - start_time < timeout:
-            m = self.master.recv_match(type="HEARTBEAT", blocking=False) if self.master else None
+            m = (
+                self.master.recv_match(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                    type="HEARTBEAT", blocking=False
+                )
+                if self.master
+                else None
+            )
             if m is None:
                 time_sleep(self.HEARTBEAT_POLL_DELAY)
                 continue
@@ -394,7 +403,13 @@ def _retrieve_autopilot_version_and_banner(self, timeout: int) -> str:
 
         # Request AUTOPILOT_VERSION message
         self._request_message(mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION)
-        m = self.master.recv_match(type="AUTOPILOT_VERSION", blocking=True, timeout=timeout) if self.master else None
+        m = (
+            self.master.recv_match(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                type="AUTOPILOT_VERSION", blocking=True, timeout=timeout
+            )
+            if self.master
+            else None
+        )
 
         return self._process_autopilot_version(m, banner_msgs)
 
@@ -404,9 +419,9 @@ def _request_banner(self) -> None:
         if self.master is not None:
             # Note: Don't wait for ACK here as banner requests are fire-and-forget
             # and we handle the response via STATUS_TEXT messages
-            self.master.mav.command_long_send(
-                self.master.target_system,
-                self.master.target_component,
+            self.master.mav.command_long_send(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_system,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                self.master.target_component,  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
                 mavutil.mavlink.MAV_CMD_DO_SEND_BANNER,
                 0,
                 0,
@@ -429,7 +444,9 @@ def _receive_banner_text(self) -> list[str]:
         start_time = time_time()
         banner_msgs: list[str] = []
         while self.master:
-            msg = self.master.recv_match(type="STATUSTEXT", blocking=False)
+            msg = self.master.recv_match(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
+                type="STATUSTEXT", blocking=False
+            )
             if msg:
                 if banner_msgs:
                     banner_msgs.append(msg.text)
@@ -455,7 +472,7 @@ def _request_message(self, message_id: int) -> None:
             system_id = int(self.info.system_id) if self.info.system_id else 0
             component_id = int(self.info.component_id) if self.info.component_id else 0
 
-            self.master.mav.command_long_send(
+            self.master.mav.command_long_send(  # type: ignore[union-attr] # pyright: ignore[reportAttributeAccessIssue]
                 system_id,
                 component_id,
                 mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
@@ -627,27 +644,29 @@ def _extract_firmware_type_from_banner(self, banner_msgs: list[str], os_custom_v
 
         return firmware_type
 
-    def _populate_flight_controller_info(self, m: MAVLink_autopilot_version_message) -> None:
+    def _populate_flight_controller_info(self, m: Optional[MAVLink_autopilot_version_message]) -> None:
         """
         Populate flight controller info from AUTOPILOT_VERSION message.
 
         Args:
-            m: The AUTOPILOT_VERSION MAVLink message
+            m: The AUTOPILOT_VERSION MAVLink message, or None
 
         """
+        if m is None:
+            return
         self.info.set_capabilities(m.capabilities)
         self.info.set_flight_sw_version(m.flight_sw_version)
         self.info.set_usb_vendor_and_product_ids(m.vendor_id, m.product_id)  # must be done before set_board_version()
         self.info.set_board_version(m.board_version)
         self.info.set_flight_custom_version(m.flight_custom_version)
         self.info.set_os_custom_version(m.os_custom_version)
 
-    def _process_autopilot_version(self, m: MAVLink_autopilot_version_message, banner_msgs: list[str]) -> str:
+    def _process_autopilot_version(self, m: Optional[MAVLink_autopilot_version_message], banner_msgs: list[str]) -> str:
         """
         Process AUTOPILOT_VERSION message and banner messages to extract flight controller info.
 
         Args:
-            m: The AUTOPILOT_VERSION MAVLink message
+            m: The AUTOPILOT_VERSION MAVLink message, or None if not received
             banner_msgs: List of banner messages received from flight controller
 
         Returns:
@@ -921,7 +940,10 @@ def comport_device(self) -> str:
             return ""
         return str(self.comport.device)
 
-    def set_master_for_testing(self, master: Optional[mavutil.mavlink_connection]) -> None:
+    def set_master_for_testing(
+        self,
+        master: Optional[mavutil.mavlink_connection],  # pyright: ignore[reportGeneralTypeIssues]
+    ) -> None:
         """
         Set the MAVLink connection for testing purposes.
 

ardupilot_methodic_configurator/backend_flightcontroller_files.py

@@ -66,7 +66,7 @@ def __init__(
         self._connection_manager: FlightControllerConnectionProtocol = connection_manager
 
     @property
-    def master(self) -> Optional[mavutil.mavlink_connection]:
+    def master(self) -> Optional[mavutil.mavlink_connection]:  # pyright: ignore[reportGeneralTypeIssues]
         """Get master connection."""
         return self._connection_manager.master
 
@@ -168,15 +168,15 @@ def get_progress_callback(completion: float) -> None:
             logging_error(_("Error during flight log download: %(error)s"), {"error": str(e)})
             return False
 
-    def _get_last_log_number(self, mavftp_instance: "MAVFTP") -> Union[int, None]:
+    def _get_last_log_number(self, mavftp_instance: "MAVFTP") -> Optional[int]:  # pyright: ignore[reportInvalidTypeForm]
         """
         Get the last log number using multiple fallback methods.
 
         Args:
             mavftp_instance: MAVFTP object for file operations
 
         Returns:
-            int: Last log number, or None if not found
+            Optional[int]: Last log number, or None if not found
 
         """
         # Method 1: Try to get LASTLOG.TXT
@@ -197,15 +197,18 @@ def _get_last_log_number(self, mavftp_instance: "MAVFTP") -> Union[int, None]:
         logging_error(_("Could not determine the last log number using any method"))
         return None
 
-    def _get_log_number_from_lastlog_txt(self, mavftp_instance: "MAVFTP") -> Union[int, None]:
+    def _get_log_number_from_lastlog_txt(
+        self,
+        mavftp_instance: "MAVFTP",  # pyright: ignore[reportInvalidTypeForm]
+    ) -> Optional[int]:
         """
         Try to get the log number from LASTLOG.TXT file.
 
         Args:
             mavftp_instance: MAVFTP object for file operations
 
         Returns:
-            int: Log number from LASTLOG.TXT, or None if not available
+            Optional[int]: Log number from LASTLOG.TXT, or None if not available
 
         """
         logging_info(_("Trying to get log number from LASTLOG.TXT"))
@@ -222,7 +225,10 @@ def _get_log_number_from_lastlog_txt(self, mavftp_instance: "MAVFTP") -> Union[i
             logging_warning(_("Failed to get log number from LASTLOG.TXT: %(error)s"), {"error": str(e)})
             return None
 
-    def _get_log_number_from_directory_listing(self, mavftp_instance: "MAVFTP") -> Union[int, None]:
+    def _get_log_number_from_directory_listing(
+        self,
+        mavftp_instance: "MAVFTP",  # pyright: ignore[reportInvalidTypeForm]
+    ) -> Optional[int]:
         """
         Try to get the highest log number by listing the logs directory using MAVFTP.
 
@@ -257,15 +263,18 @@ def _get_log_number_from_directory_listing(self, mavftp_instance: "MAVFTP") -> U
             logging_warning(_("Failed to get log number from directory listing: %(error)s"), {"error": str(e)})
             return None
 
-    def _get_log_number_by_scanning(self, mavftp_instance: "MAVFTP") -> Union[int, None]:
+    def _get_log_number_by_scanning(
+        self,
+        mavftp_instance: "MAVFTP",  # pyright: ignore[reportInvalidTypeForm]
+    ) -> Optional[int]:
         """
         Try to find the last log using binary search for efficiency.
 
         Args:
             mavftp_instance: MAVFTP object for file operations
 
         Returns:
-            int: Last log number found using binary search, or None if not found
+            Optional[int]: Highest log number found, or None if not found
 
         """
         logging_info(_("Trying to find log number using binary search"))
@@ -311,7 +320,11 @@ def _get_log_number_by_scanning(self, mavftp_instance: "MAVFTP") -> Union[int, N
             return None
 
     def _download_log_file(
-        self, mavftp_instance: "MAVFTP", remote_filenumber: int, local_filename: str, get_progress_callback: Callable
+        self,
+        mavftp_instance: "MAVFTP",  # pyright: ignore[reportInvalidTypeForm]
+        remote_filenumber: int,
+        local_filename: str,
+        get_progress_callback: Callable,
     ) -> bool:
         """
         Download the actual log file from the flight controller.
@@ -344,15 +357,15 @@ def _download_log_file(
             logging_error(_("Failed to download log file: %(error)s"), {"error": str(e)})
             return False
 
-    def _extract_log_number_from_file(self, temp_lastlog_file: str) -> Union[int, None]:
+    def _extract_log_number_from_file(self, temp_lastlog_file: str) -> Optional[int]:
         """
         Extract log number from LASTLOG.TXT file and clean up the temporary file.
 
         Args:
-            temp_lastlog_file: Path to temporary LASTLOG.TXT file
+            temp_lastlog_file: Path to the file containing the log number
 
         Returns:
-            int: Log number extracted from file, or None if extraction failed
+            Optional[int]: Log number from the file, or None if not found or parsing failed
 
         """
         try:

ardupilot_methodic_configurator/backend_flightcontroller_mavftp_utils.py

@@ -15,7 +15,7 @@
 from ardupilot_methodic_configurator.backend_mavftp import MAVFTP
 
 
-def create_mavftp(master: Union[mavutil.mavlink_connection, None]) -> MAVFTP:
+def create_mavftp(master: Union[mavutil.mavlink_connection, None]) -> MAVFTP:  # pyright: ignore[reportGeneralTypeIssues]
     """
     Factory function for creating MAVFTP instances.
 
@@ -37,7 +37,9 @@ def create_mavftp(master: Union[mavutil.mavlink_connection, None]) -> MAVFTP:
     return MAVFTP(master, target_system=master.target_system, target_component=master.target_component)
 
 
-def create_mavftp_safe(master: Union[mavutil.mavlink_connection, None]) -> Optional[MAVFTP]:
+def create_mavftp_safe(
+    master: Union[mavutil.mavlink_connection, None],  # pyright: ignore[reportGeneralTypeIssues]
+) -> Optional[MAVFTP]:  # pyright: ignore[reportGeneralTypeIssues]
     """
     Factory function for creating MAVFTP instances with safe error handling.
 

ardupilot_methodic_configurator/backend_flightcontroller_params.py

@@ -68,7 +68,7 @@ def __init__(
         self.fc_parameters: dict[str, float] = fc_parameters if fc_parameters is not None else {}
 
     @property
-    def master(self) -> Optional[mavutil.mavlink_connection]:
+    def master(self) -> Optional[mavutil.mavlink_connection]:  # pyright: ignore[reportGeneralTypeIssues]
         """Get master connection."""
         return self._connection_manager.master