Use Scientific Notations for Small Float Numbers (#488)

* Code reformatted. (#487)

* Code reformatted. (#487)

Author: ATATC

leads/comm/prototype.py

@@ -236,7 +236,7 @@ def receive(self, chunk_size: int = 512) -> bytes | None:
                 msg += (chunk := self._require_open_socket().recv(chunk_size))
             return self.with_remainder(msg)
         except IOError:
-            return
+            return None
 
     @_override
     def send(self, msg: bytes) -> None:

leads/data_persistence/analyzer/inference.py

@@ -58,7 +58,7 @@ def __init__(self) -> None:
     def complete(self, *rows: dict[str, _Any], backward: bool = False) -> dict[str, _Any] | None:
         row = rows[0]
         if SpeedInferenceBase.skip(row):
-            return
+            return None
         speed = None
         if not speed_invalid(s := row["front_wheel_speed"]):
             speed = s
@@ -84,7 +84,7 @@ def complete(self, *rows: dict[str, _Any], backward: bool = False) -> dict[str,
         if (SpeedInferenceBase.skip(target) or time_invalid(t_0) or
                 time_invalid(t) or speed_invalid(v_0) or
                 acceleration_invalid(a_0)):
-            return
+            return None
         a = target["forward_acceleration"]
         if acceleration_invalid(a):
             a = a_0
@@ -205,11 +205,11 @@ def complete(self, *rows: dict[str, _Any], backward: bool = False) -> dict[str,
         t_0, t, v_0, s_0 = base["t"], target["t"], base["speed"], base["mileage"]
         if (MileageInferenceBase.skip(target) or time_invalid(t_0) or time_invalid(t) or
                 speed_invalid(v_0) or mileage_invalid(s_0)):
-            return
+            return None
         v = target["speed"]
         if speed_invalid(v):
             v = v_0
-        return {"mileage": s_0 + .00000125 * (v_0 + v) * (t - t_0) / 9}
+        return {"mileage": s_0 + 125e-8 * (v_0 + v) * (t - t_0) / 9}
 
 
 class MileageInferenceByGPSPosition(MileageInferenceBase):
@@ -249,7 +249,7 @@ def __init__(self, *channels: _Literal["front", "left", "right", "rear"]) -> Non
     @_override
     def complete(self, *rows: dict[str, _Any], backward: bool = False) -> dict[str, _Any] | None:
         if backward:
-            return
+            return None
         target, base = rows
         original_target = target.copy()
         t_0, t = target["t"], base["t"]

leads/data_persistence/analyzer/processor.py

@@ -226,7 +226,7 @@ def unit(row: dict[str, _Any], i: int) -> None:
             else:
                 path.append(p)
 
-        self.foreach(asserted_unit if asserted else unit, True, not asserted)
+        self.foreach(asserted_unit if asserted else unit, skip_gps_invalid_rows=not asserted)
 
     def suggest_on_lap(self, lap_index: int) -> tuple[str, str]:
         a, b, duration, distance, avg_speed = self._laps[lap_index]
@@ -276,7 +276,7 @@ def unit(row: dict[str, _Any], index: int) -> None:
             if self._max_lap_y is None or y > self._max_lap_y:
                 self._max_lap_y = y
 
-        self.foreach(unit, True, True)
+        self.foreach(unit, skip_gps_invalid_rows=True)
         far = max(self._max_lap_x, self._max_lap_y)
         self._lap_x.append(far)
         self._lap_y.append(far)

leads/ltm.py

@@ -8,7 +8,7 @@
 
 def _load_ltm() -> None:
     global _ltm
-    with open(f"{_abspath(__file__)[:-6]}_ltm/core", "r") as f:
+    with open(f"{_abspath(__file__)[:-6]}_ltm/core") as f:
         ltm_content = f.read()
         if not (ltm_content.startswith("{") and ltm_content.endswith("}")):
             ltm_content = "{}"

leads_arduino/wheel_speed_sensor.py

@@ -13,7 +13,7 @@ def rpm2kmh(rpm: float, wheel_circumference: float) -> float:
     :param wheel_circumference: wheel circumference in centimeters
     :return: speed in kilometers per hour
     """
-    return rpm * wheel_circumference * .0006
+    return rpm * wheel_circumference * 6e-4
 
 
 class WheelSpeedSensor(_Device):
@@ -56,19 +56,20 @@ def update(self, data: str) -> None:
         if self._accelerometer and self._last_acceleration:
             a = self._accelerometer.read().linear().forward_acceleration
             v = (a + self._last_acceleration) * 1.8 * (t - self._last_valid)
-            if abs((ws - self._wheel_speed - v) / (v + .0000000001)) > 1.5:
+            # add a small constant to avoid zero division
+            if abs((ws - self._wheel_speed - v) / (v + 1e-10)) > 1.5:
                 return
             self._last_acceleration = a
         self._wheel_speed = ws
         self._last_valid = t
         if self._odometer:
-            self._odometer.write(self._wheel_circumference * .00001)
+            self._odometer.write(self._wheel_circumference * 1e-5)
 
     @_override
     def read(self) -> float:
         """
         :return: speed in kilometers per hour
         """
-        # add .0000000001 to avoid zero division
-        r = rpm2kmh(60 / (.0000000001 + _time() - self._last_valid), self._wheel_circumference) / self._num_divisions
+        # add a small constant to avoid zero division
+        r = rpm2kmh(60 / (1e-10 + _time() - self._last_valid), self._wheel_circumference) / self._num_divisions
         return 0 if r < .1 else r if r < 5 else self._wheel_speed

leads_comm_serial/connection.py

@@ -31,7 +31,7 @@ def receive(self, chunk_size: int = 1) -> bytes | None:
                 msg += (chunk := self._require_open_serial().read(chunk_size))
             return self.with_remainder(msg)
         except IOError:
-            return
+            return None
 
     @_override
     def send(self, msg: bytes | _Literal[b"disconnect"]) -> None:

leads_gui/performance_checker.py

@@ -23,9 +23,9 @@ def net_delay(self) -> float:
         return float(_average(self._net_delay_seq))
 
     def record_frame(self, last_interval: float) -> None:
-        # add .0000000001 to avoid zero division
+        # add a small constant to avoid zero division
         self._time_seq.append(t := _time())
-        self._delay_seq.append(delay := .0000000001 + t - self._last_frame)
+        self._delay_seq.append(delay := 1e-10 + t - self._last_frame)
         self._net_delay_seq.append(delay - last_interval)
         self._model = _poly1d(_polyfit(self._time_seq, self._net_delay_seq, 5))
         self._last_frame = t

leads_video/utils.py

@@ -15,7 +15,7 @@
 
 def get_camera(tag: str, required_type: type[Camera] = Camera) -> Camera | None:
     if not _has_device(tag):
-        return
+        return None
     cam = _get_device(tag)
     if not isinstance(cam, required_type):
         raise TypeError(f"Device \"{tag}\" is supposed to be a camera")