reformat launch models

Author: Apolo151

manager/libs/launch_world_model.py

@@ -1,3 +1,5 @@
+"""Module for managing and validating robotics application launch world configs."""
+
 from dataclasses import dataclass
 from typing import Optional
 from pydantic import BaseModel, ValidationError
@@ -6,6 +8,8 @@
 
 
 class ConfigurationModel(BaseModel):
+    """Pydantic model for robotics application world and launch file configuration."""
+
     world: str
     launch_file_path: str
 
@@ -15,10 +19,23 @@ class ConfigurationModel(BaseModel):
 
 @dataclass
 class ConfigurationManager:
+    """Manager for robotics application configuration validation and storage."""
+
     configuration: ConfigurationModel
 
     @staticmethod
     def validate(configuration: dict):
+        """Validate the given configuration dictionary using the ConfigurationModel.
+
+        Args:
+            configuration (dict): The configuration data to validate.
+
+        Returns:
+            ConfigurationModel: The validated configuration model.
+
+        Raises:
+            ValueError: If the configuration is invalid.
+        """
         try:
             return ConfigurationModel(**configuration)
         except ValidationError as e:

manager/manager/launcher/launcher_robot.py

@@ -1,3 +1,5 @@
+"""LauncherRobot module for managing robot launchers in different simulation worlds."""
+
 from typing import Optional
 from pydantic import BaseModel
 
@@ -66,6 +68,8 @@
 
 
 class LauncherRobot(BaseModel):
+    """Class for managing robot launchers in different simulation worlds."""
+
     world: str
     launch_file_path: str
     module: str = ".".join(__name__.split(".")[:-1])
@@ -74,7 +78,8 @@ class LauncherRobot(BaseModel):
     start_pose: Optional[list] = []
 
     def run(self, start_pose=None):
-        if start_pose != None:
+        """Run the robot launcher with an optional start pose."""
+        if start_pose is not None:
             self.start_pose = start_pose
         for module in worlds[self.world][str(self.ros_version)]:
             module["launch_file"] = self.launch_file_path
@@ -83,13 +88,16 @@ def run(self, start_pose=None):
         LogManager.logger.info(self.launchers)
 
     def terminate(self):
+        """Terminate all robot launchers and clear the launchers list."""
         LogManager.logger.info("Terminating robot launcher")
         if self.launchers:
             for launcher in self.launchers:
                 launcher.terminate()
         self.launchers = []
 
     def launch_module(self, configuration):
+        """Launch a robot module based on the provided configuration."""
+
         def process_terminated(name, exit_code):
             LogManager.logger.info(
                 f"LauncherEngine: {name} exited with code {exit_code}"
@@ -98,17 +106,24 @@ def process_terminated(name, exit_code):
                 self.terminated_callback(name, exit_code)
 
         launcher_module_name = configuration["module"]
-        launcher_module = f"{self.module}.launcher_{launcher_module_name}.Launcher{class_from_module(launcher_module_name)}"
+        launcher_module = (
+            f"{self.module}.launcher_{launcher_module_name}."
+            f"Launcher{class_from_module(launcher_module_name)}"
+        )
         launcher_class = get_class(launcher_module)
         launcher = launcher_class.from_config(launcher_class, configuration)
 
         launcher.run(self.start_pose, process_terminated)
         return launcher
 
     def launch_command(self, configuration):
+        """Launch a robot command based on the provided configuration."""
         pass
 
 
 class LauncherRobotException(Exception):
+    """Exception class for errors related to LauncherRobot."""
+
     def __init__(self, message):
+        """Initialize the LauncherRobotException with a message."""
         super(LauncherRobotException, self).__init__(message)