pre-commit

.pre-commit-config.yaml

+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.2.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+    -   id: flake8

example-1/boss.py

@@ -10,11 +10,11 @@ class Boss(QueueClient):
     def run(self):
         while True:
             task = random.randint(5, 1e4)
-            print('new task:', task)
+            print("new task:", task)
             self.queue.put(task)
-            print('tasks left:', self.queue.qsize())
+            print("tasks left:", self.queue.qsize())
             time.sleep(random.randint(1, 2))
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Boss().run()

example-1/manager.py

@@ -5,24 +5,28 @@ import os
 from multiprocessing.managers import BaseManager
 
 PORT = 7481
-KEY = b'AiZa5Uavcoh3PiajvaeTee5z'  # keep it secret, keep it safe !
+KEY = b"AiZa5Uavcoh3PiajvaeTee5z"  # keep it secret, keep it safe !
 
 
 class QueueManager(BaseManager):
     """This Manager holds a Queue and waits for clients to use it."""
+
     pass
 
 
 class QueueClient:
     """Base class for users of the Queue."""
+
     def __init__(self):
-        QueueManager.register('get_queue')
-        manager = QueueManager(address=(os.environ.get('HOST', 'localhost'), PORT), authkey=KEY)
+        QueueManager.register("get_queue")
+        manager = QueueManager(
+            address=(os.environ.get("HOST", "localhost"), PORT), authkey=KEY
+        )
         manager.connect()
         self.queue = manager.get_queue()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     queue = multiprocessing.Queue()
-    QueueManager.register('get_queue', callable=lambda: queue)
-    QueueManager(address=('', PORT), authkey=KEY).get_server().serve_forever()
+    QueueManager.register("get_queue", callable=lambda: queue)
+    QueueManager(address=("", PORT), authkey=KEY).get_server().serve_forever()

example-1/minion.py

 #!/usr/bin/env python3
 
-import random
 import time
 
 from manager import QueueClient
@@ -12,10 +11,12 @@ class Minion(QueueClient):
         while True:
             task = self.queue.get()
             start = time.perf_counter()
-            print(f'start work on task {task}...')
+            print(f"start work on task {task}...")
             result = find_prime(task)
-            print(f'Done ! The {task}-th prime number is {result} (found in {time.perf_counter() - start:.3f}s)')
+            print(
+                f"Done ! The {task}-th prime number is {result} (found in {time.perf_counter() - start:.3f}s)"
+            )
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Minion().run()

example-1/work.py

@@ -16,9 +16,9 @@ def find_prime(goal: int = 10, verbose: bool = False) -> int:
         if is_prime(i):
             found += 1
             if verbose:
-                print(f'the prime number n°{found} is {i}')
+                print(f"the prime number n°{found} is {i}")
     return i
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     print(find_prime(50, verbose=True))

example-2/boss.py

 #!/usr/bin/env python3
 
-import numpy as np
-
 from manager import QueueClient
 from task import Task
 
@@ -15,9 +13,12 @@ class Boss(QueueClient):
         results = []
         for _ in range(tasks):
             result = self.results.get()
-            print(f'got result {result.identifier} of size {result.size} processed in {result.time:.3f}s')
+            print(
+                f"got result {result.identifier} of size {result.size} processed in {result.time:.3f}s"
+            )
             results.append(result)
-        print('Got all {tasks} results !')
+        print("Got all {tasks} results !")
+
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Boss().run()

example-2/manager.py

@@ -5,28 +5,32 @@ import os
 from multiprocessing.managers import BaseManager
 
 PORT = 7481
-KEY = b'AiZa5Uavcoh3PiajvaeTee5z'  # keep it secret, keep it safe !
+KEY = b"AiZa5Uavcoh3PiajvaeTee5z"  # keep it secret, keep it safe !
 
 
 class QueueManager(BaseManager):
     """This Manager holds a Queue and waits for clients to use it."""
+
     pass
 
 
 class QueueClient:
     """Base class for users of the Queue."""
+
     def __init__(self):
-        QueueManager.register('get_tasks')
-        QueueManager.register('get_results')
-        manager = QueueManager(address=(os.environ.get('HOST', 'localhost'), PORT), authkey=KEY)
+        QueueManager.register("get_tasks")
+        QueueManager.register("get_results")
+        manager = QueueManager(
+            address=(os.environ.get("HOST", "localhost"), PORT), authkey=KEY
+        )
         manager.connect()
         self.tasks = manager.get_tasks()
         self.results = manager.get_results()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     task_queue = multiprocessing.Queue()
     result_queue = multiprocessing.Queue()
-    QueueManager.register('get_tasks', callable=lambda: task_queue)
-    QueueManager.register('get_results', callable=lambda: result_queue)
-    QueueManager(address=('', PORT), authkey=KEY).get_server().serve_forever()
+    QueueManager.register("get_tasks", callable=lambda: task_queue)
+    QueueManager.register("get_results", callable=lambda: result_queue)
+    QueueManager(address=("", PORT), authkey=KEY).get_server().serve_forever()

example-2/minion.py

@@ -7,11 +7,11 @@ class Minion(QueueClient):
     def run(self):
         while True:
             task = self.tasks.get()
-            print(f'start work on a task {task.identifier} of size {task.size}...')
+            print(f"start work on a task {task.identifier} of size {task.size}...")
             task.work()
-            print(f'Done in {task.time:.3f}s')
+            print(f"Done in {task.time:.3f}s")
             self.results.put(task)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Minion().run()

example-3/boss.py

@@ -20,16 +20,20 @@ class Boss(QueueClient):
         results = []
         for _ in qs:
             result = self.results.get()
-            print(f'got result {result.identifier} of processed in {result.time:.3f}s : ')
+            print(
+                f"got result {result.identifier} of processed in {result.time:.3f}s : "
+            )
             results.append(result)
-        print('Got all {tasks} results !')
+        print("Got all {tasks} results !")
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
 
     # Allocate data to be proceeded.
     NDATA = 20
-    qs = np.array([pin.randomConfiguration(TaskParameters.robot.model) for _ in range(NDATA)])
+    qs = np.array(
+        [pin.randomConfiguration(TaskParameters.robot.model) for _ in range(NDATA)]
+    )
     vqs = np.random.rand(NDATA, TaskParameters.robot.model.nv) * 2 - 1
     aqs = np.random.rand(NDATA, TaskParameters.robot.model.nv) * 2 - 1
 
@@ -37,4 +41,4 @@ if __name__ == '__main__':
     Boss().run(qs, vqs, aqs)
     total = time.perf_counter() - start
 
-    print(f'Completed in {total:.3f} secs')
+    print(f"Completed in {total:.3f} secs")

example-3/manager.py

@@ -5,28 +5,32 @@ import os
 from multiprocessing.managers import BaseManager
 
 PORT = 7480
-KEY = b'AiZa5Uavcoh3PiajvaeTee5z'  # keep it secret, keep it safe !
+KEY = b"AiZa5Uavcoh3PiajvaeTee5z"  # keep it secret, keep it safe !
 
 
 class QueueManager(BaseManager):
     """This Manager holds a Queue and waits for clients to use it."""
+
     pass
 
 
 class QueueClient:
     """Base class for users of the Queue."""
+
     def __init__(self):
-        QueueManager.register('get_tasks')
-        QueueManager.register('get_results')
-        manager = QueueManager(address=(os.environ.get('HOST', 'localhost'), PORT), authkey=KEY)
+        QueueManager.register("get_tasks")
+        QueueManager.register("get_results")
+        manager = QueueManager(
+            address=(os.environ.get("HOST", "localhost"), PORT), authkey=KEY
+        )
         manager.connect()
         self.tasks = manager.get_tasks()
         self.results = manager.get_results()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     task_queue = multiprocessing.Queue()
     result_queue = multiprocessing.Queue()
-    QueueManager.register('get_tasks', callable=lambda: task_queue)
-    QueueManager.register('get_results', callable=lambda: result_queue)
-    QueueManager(address=('', PORT), authkey=KEY).get_server().serve_forever()
+    QueueManager.register("get_tasks", callable=lambda: task_queue)
+    QueueManager.register("get_results", callable=lambda: result_queue)
+    QueueManager(address=("", PORT), authkey=KEY).get_server().serve_forever()

example-3/minion.py

@@ -7,11 +7,11 @@ class Minion(QueueClient):
     def run(self):
         while True:
             task = self.tasks.get()
-            print(f'start work on a task {task.identifier}...')
+            print(f"start work on a task {task.identifier}...")
             task.work()
-            print(f'Done in {task.time:.3f}s')
+            print(f"Done in {task.time:.3f}s")
             self.results.put(task)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Minion().run()

example-3/task.py

@@ -7,8 +7,9 @@ import example_robot_data as robex
 
 
 class TaskParameters:
-    '''Common information to all tasks, to be allocated by each minion and the boss. '''
-    robotname = 'ur5'
+    """Common information to all tasks, to be allocated by each minion and the boss."""
+
+    robotname = "ur5"
     robot = robex.load(robotname)
 
 
@@ -27,7 +28,13 @@ class Task:
         start = time.perf_counter()
 
         for i in range(1_000_000):
-            pin.rnea(TaskParameters.robot.model, TaskParameters.robot.data, self.q, self.v, self.a)
+            pin.rnea(
+                TaskParameters.robot.model,
+                TaskParameters.robot.data,
+                self.q,
+                self.v,
+                self.a,
+            )
         self.tau[:] = TaskParameters.robot.data.tau
 
         self.time = time.perf_counter() - start

example-4/boss.py

@@ -13,9 +13,9 @@ def grid(n_data):
     Generate n_traj points from a 3d grid
     """
     n_points = int(np.cbrt(n_data)) + 1
-    symbreak = .9586  # Use it to break the symmetry of the grid
-    x = np.linspace(-1., symbreak, num=n_points, endpoint=False)
-    y = np.linspace(-1., symbreak, num=n_points, endpoint=True)
+    symbreak = 0.9586  # Use it to break the symmetry of the grid
+    x = np.linspace(-1.0, symbreak, num=n_points, endpoint=False)
+    y = np.linspace(-1.0, symbreak, num=n_points, endpoint=True)
     z = np.linspace(-np.pi, np.pi * symbreak, num=n_points, endpoint=True)
 
     positions = [[a, b, c] for a in x for b in y for c in z]
@@ -27,12 +27,12 @@ def grid(n_data):
 class Boss(QueueClient):
     def run(self, n_data, n_sub=100):
 
-        assert (n_data % n_sub == 0)
+        assert n_data % n_sub == 0
 
         # Sample the dataset
         x0s = grid(n_data)
         lots = np.split(x0s, n_data // n_sub)
-        print(f'Choose {len(x0s)} trajectories divided in {len(lots)} lots.')
+        print(f"Choose {len(x0s)} trajectories divided in {len(lots)} lots.")
 
         # create some tasks
         for lot in lots:
@@ -42,14 +42,16 @@ class Boss(QueueClient):
         data = []
         for _ in lots:
             result = self.results.get()
-            print(f'got result {result.identifier} of processed in {result.time:.3f}s : ')
+            print(
+                f"got result {result.identifier} of processed in {result.time:.3f}s : "
+            )
             data.extend(result.results)
-        print('Got all {tasks} results !')
+        print("Got all {tasks} results !")
 
         return data
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     # Allocate data to be proceeded.
     NDATA = 20
 
@@ -60,4 +62,4 @@ if __name__ == '__main__':
     data = boss.run(10, 1)
     total = time.perf_counter() - start
 
-    print(f'Completed in {total:.3f} secs')
+    print(f"Completed in {total:.3f} secs")

example-4/manager.py

@@ -5,28 +5,32 @@ import os
 from multiprocessing.managers import BaseManager
 
 PORT = 7480
-KEY = b'AiZa5Uavcoh3PiajvaeTee5z'  # keep it secret, keep it safe !
+KEY = b"AiZa5Uavcoh3PiajvaeTee5z"  # keep it secret, keep it safe !
 
 
 class QueueManager(BaseManager):
     """This Manager holds a Queue and waits for clients to use it."""
+
     pass
 
 
 class QueueClient:
     """Base class for users of the Queue."""
+
     def __init__(self):
-        QueueManager.register('get_tasks')
-        QueueManager.register('get_results')
-        manager = QueueManager(address=(os.environ.get('HOST', 'localhost'), PORT), authkey=KEY)
+        QueueManager.register("get_tasks")
+        QueueManager.register("get_results")
+        manager = QueueManager(
+            address=(os.environ.get("HOST", "localhost"), PORT), authkey=KEY
+        )
         manager.connect()
         self.tasks = manager.get_tasks()
         self.results = manager.get_results()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     task_queue = multiprocessing.Queue()
     result_queue = multiprocessing.Queue()
-    QueueManager.register('get_tasks', callable=lambda: task_queue)
-    QueueManager.register('get_results', callable=lambda: result_queue)
-    QueueManager(address=('', PORT), authkey=KEY).get_server().serve_forever()
+    QueueManager.register("get_tasks", callable=lambda: task_queue)
+    QueueManager.register("get_results", callable=lambda: result_queue)
+    QueueManager(address=("", PORT), authkey=KEY).get_server().serve_forever()

example-4/minion.py

@@ -7,11 +7,11 @@ class Minion(QueueClient):
     def run(self):
         while True:
             task = self.tasks.get()
-            print(f'start work on a task {task.identifier}...')
+            print(f"start work on a task {task.identifier}...")
             task.work()
-            print(f'Done in {task.time:.3f}s')
+            print(f"Done in {task.time:.3f}s")
             self.results.put(task)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Minion().run()

example-4/task.py

@@ -7,9 +7,9 @@ import crocoddyl
 
 
 def makeDDP():
-    rcost_x = .1
-    rcost_u = .2
-    tcost_x = 3.
+    rcost_x = 0.1
+    rcost_u = 0.2
+    tcost_x = 3.0
     horizon = 100
 
     model = crocoddyl.ActionModelUnicycle()
@@ -22,7 +22,8 @@ def makeDDP():
 
 
 class TaskParameters:
-    '''Common information to all tasks, to be allocated by each minion and the boss. '''
+    """Common information to all tasks, to be allocated by each minion and the boss."""
+
     ddp = makeDDP()
 
 
@@ -40,10 +41,10 @@ class Result:
 
 class Task:
     def __init__(self, x0s, identifier=None):
-        '''
+        """
         Set a task with a list of initial state. Identifier is a uniq identifier of the task (for documentation only)
         that is generated randomly if none is provided.
-        '''
+        """
 
         self.identifier = identifier if identifier is not None else uuid.uuid1()
         self.time = 0

pfc-1/boss.py

 #!/usr/bin/env python3
 
 import random
-import time
 
 from manager import QueueClient
 
@@ -10,9 +9,9 @@ class Boss(QueueClient):
     def run(self):
         for _ in range(100):
             task = random.randint(5, 1e4)
-            print('new task:', task)
+            print("new task:", task)
             self.queue.put(task)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     Boss().run()

pfc-1/manager.py

@@ -5,24 +5,28 @@ import os
 from multiprocessing.managers import BaseManager
 
 PORT = 7481
-KEY = b'AiZa5Uavcoh3PiajvaeTee5z'  # keep it secret, keep it safe !
+KEY = b"AiZa5Uavcoh3PiajvaeTee5z"  # keep it secret, keep it safe !
 
 
 class QueueManager(BaseManager):
     """This Manager holds a Queue and waits for clients to use it."""
+
     pass
 
 
 class QueueClient:
     """Base class for users of the Queue."""
+
     def __init__(self):
-        QueueManager.register('get_queue')
-        manager = QueueManager(address=(os.environ.get('HOST', 'localhost'), PORT), authkey=KEY)
+        QueueManager.register("get_queue")
+        manager = QueueManager(
+            address=(os.environ.get("HOST", "localhost"), PORT), authkey=KEY
+        )
         manager.connect()
         self.queue = manager.get_queue()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     queue = multiprocessing.Queue()
-    QueueManager.register('get_queue', callable=lambda: queue)
-    QueueManager(address=('', PORT), authkey=KEY).get_server().serve_forever()
+    QueueManager.register("get_queue", callable=lambda: queue)
+    QueueManager(address=("", PORT), authkey=KEY).get_server().serve_forever()

pfc-1/minion.py

@@ -5,7 +5,6 @@ minion intended to be launched by slurm
 
 import argparse
 import queue
-import random
 import time
 
 from manager import QueueClient
@@ -22,7 +21,7 @@ class Minion(QueueClient):
             try:
                 task = self.queue.get(block=False)
             except queue.Empty:
-                print('All work is already done !')
+                print("All work is already done !")
                 break
             start = time.perf_counter()
             print(f"start work {n}/{self.n_tasks} on task {task}...")
@@ -33,6 +32,6 @@ class Minion(QueueClient):
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("n_tasks", type=int, default=1, nargs='?')
+    parser.add_argument("n_tasks", type=int, default=1, nargs="?")
 
     Minion(**vars(parser.parse_args())).run()

pfc-1/work.py

@@ -16,9 +16,9 @@ def find_prime(goal: int = 10, verbose: bool = False) -> int:
         if is_prime(i):
             found += 1
             if verbose:
-                print(f'the prime number n°{found} is {i}')
+                print(f"the prime number n°{found} is {i}")
     return i
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     print(find_prime(50, verbose=True))