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Change type hints of the most List arguments to Sequence in pyflix

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These arguments are effectively immutable, so Sequence makes more sense - the user may use tuples in addition to lists.
This commit is contained in:
Oleg Kalachev
2026-08-14 05:57:58 +03:00
parent f99a9998b1
commit 2d1efac05f
1 changed files with 8 additions and 8 deletions
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tools/pyflix/flix.py
+8 -8
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@@ -243,7 +243,7 @@ class Flix:
time.sleep(1)
@staticmethod
def _mavlink_to_flu(v: List[float]) -> List[float]:
def _mavlink_to_flu(v: Sequence[float]) -> List[float]:
if len(v) == 3: # vector
return [v[0], -v[1], -v[2]]
elif len(v) == 4: # quaternion
@@ -252,8 +252,8 @@ class Flix:
raise ValueError(f'List must have 3 (vector) or 4 (quaternion) elements')
@staticmethod
def _flu_to_mavlink(v: List[float]) -> List[float]:
return Flix._mavlink_to_flu(v)
def _flu_to_mavlink(v: Sequence[float]) -> List[float]:
return Flix._mavlink_to_flu(v) # flu to mavlink is the same as mavlink to flu
def _command_send(self, command: int, params: Sequence[float]):
if len(params) != 7:
@@ -320,13 +320,13 @@ class Flix:
def set_armed(self, armed: bool):
self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
def set_position(self, position: Sequence[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
raise NotImplementedError('Position control is not implemented yet')
def set_velocity(self, velocity: List[float], yaw: Optional[float] = None):
def set_velocity(self, velocity: Sequence[float], yaw: Optional[float] = None):
raise NotImplementedError('Velocity control is not implemented yet')
def set_attitude(self, attitude: List[float], thrust: float, rates_extra: List[float] = [0, 0, 0]):
def set_attitude(self, attitude: Sequence[float], thrust: float, rates_extra: Sequence[float] = (0, 0, 0)):
if len(attitude) == 3:
attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q # type: ignore
elif len(attitude) != 4:
@@ -340,7 +340,7 @@ class Flix:
[attitude[0], attitude[1], attitude[2], attitude[3]],
rates_extra[0], rates_extra[1], rates_extra[2], thrust)
def set_rates(self, rates: List[float], thrust: float):
def set_rates(self, rates: Sequence[float], thrust: float):
if len(rates) != 3:
raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]')
if not (0 <= thrust <= 1):
@@ -352,7 +352,7 @@ class Flix:
[1, 0, 0, 0],
rates[0], rates[1], rates[2], thrust)
def set_motors(self, motors: List[float]):
def set_motors(self, motors: Sequence[float]):
if len(motors) != 4:
raise ValueError('motors must have 4 values')
if not all(0 <= m <= 1 for m in motors):