From 2fe01116db33a9ceb3a405b56e6ae01c37dfe81b Mon Sep 17 00:00:00 2001
From: Antoine Lima <antoine@sagou.in>
Date: Thu, 27 Jun 2024 11:23:31 +0200
Subject: [PATCH] [HD Monitor] Fix pylint errors (import order, docstrings,
 ...)

---
 .../hd_monitor.py                             | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py b/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py
index 93a9f6ac..505cc7c1 100755
--- a/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py
+++ b/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py
@@ -1,4 +1,5 @@
 #! /usr/bin/env python3
+"""Hard Drive (or any other memory) monitor. Contains a the monitor node and its main function."""
 # -*- coding: utf-8 -*-
 #
 # Software License Agreement (BSD License)
@@ -44,8 +45,8 @@
 import rclpy
 from rcl_interfaces.msg import SetParametersResult
 from rclpy.node import Node
-from diagnostic_updater import Updater
 from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
+from diagnostic_updater import Updater
 
 
 FREE_PERCENT_LOW = 0.05
@@ -63,6 +64,13 @@
 
 
 class HDMonitor(Node):
+    """Diagnostic node checking the remaining space on the specified hard drive.
+    
+    Three ROS parameters:
+    - path: Path on the filesystem to check (string, default: home directory)
+    - free_percent_low: Percentage at which to consider the space left as low
+    - free_percent_crit: Percentage at which to consider the space left as critical
+    """
     def __init__(self):
         hostname = gethostname().replace(".", "_").replace("-", "_")
         super().__init__(f"hd_monitor_{hostname}")
@@ -71,12 +79,14 @@ def __init__(self):
         self.declare_parameter("path", "~")
         self.declare_parameter("free_percent_low", 0.05)
         self.declare_parameter("free_percent_crit", 0.01)
+        self._path = self._free_percent_low = self._free_percent_crit = None
 
         self._updater = Updater(self)
         self._updater.setHardwareID(hostname)
         self._updater.add(f"{hostname} HD Usage", self.check_disk_usage)
 
     def callback_config(self, params: List[rclpy.Parameter]):
+        """Callback for ROS parameters, see the class documentation for declared parameters."""
         for param in params:
             match param.name:
                 case "path":
@@ -87,9 +97,11 @@ def callback_config(self, params: List[rclpy.Parameter]):
                     self._free_percent_low = param.value
                 case "free_percent_crit":
                     self._free_percent_crit = param.value
+
         return SetParametersResult(successful=True)
 
     def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
+        """Task ran regularly by the diagnostic updater that returns the actual status"""
         diag.level = DiagnosticStatus.OK
 
         total, _, free = disk_usage(self._path)
@@ -102,12 +114,12 @@ def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
         else:
             diag.level = DiagnosticStatus.ERROR
 
-        total_Go = total // (1024 * 1024)
+        total_go = total // (1024 * 1024)
         diag.values.extend(
             [
                 KeyValue(key="Name", value=self._path),
                 KeyValue(key="Status", value=DICT_STATUS[diag.level]),
-                KeyValue(key="Total (Go)", value=str(total_Go)),
+                KeyValue(key="Total (Go)", value=str(total_go)),
                 KeyValue(key="Available (%)", value=str(round(percent, 2))),
             ]
         )
@@ -117,6 +129,7 @@ def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
 
 
 def main(args=None):
+    """Runs the HDMonitor class"""
     rclpy.init(args=args)
 
     node = HDMonitor()