Upgrade to Python 3.10 style type hints

track/__main__.py

@@ -11,7 +11,7 @@
 import os
 import signal
 import sys
-from typing import Callable
+from collections.abc import Callable
 import click
 import astropy.units as u
 from astropy.coordinates import Angle, Longitude

track/align.py

@@ -21,7 +21,6 @@
 import time
 import pickle
 from datetime import datetime
-from typing import List, Optional
 import numpy as np
 import pandas as pd
 from astropy_healpix import HEALPix
@@ -90,8 +89,8 @@ def generate_positions(
     mount_model: MountModel,
     mount: TelescopeMount,
     min_altitude: Angle = 0.0 * u.deg,
-    meridian_side: Optional[MeridianSide] = None,
-) -> List[Position]:
+    meridian_side: MeridianSide | None = None,
+) -> list[Position]:
     """Generate a list of equally spaced positions on the sky to search.
 
     The list of positions generated will be a subset of pixels generated by the HEALPix algorithm,
@@ -161,7 +160,7 @@ def attempt_plate_solving(
     camera: Camera,
     mount: TelescopeMount,
     location: EarthLocation,
-    observations: List,
+    observations: list,
     observations_dir: str,
     num_solutions_so_far: int,
 ) -> bool:

track/autofocus.py

@@ -11,7 +11,6 @@
 import sys
 import os
 import time
-from typing import Optional, Tuple
 import imageio.v2 as iio
 import matplotlib.pyplot as plt
 import numpy as np
@@ -28,7 +27,7 @@
 
 
 def create_circular_mask(
-    width: int, height: int, radius: float, center: Tuple[float, float]
+    width: int, height: int, radius: float, center: tuple[float, float]
 ) -> np.ndarray:
     """Create a circular mask.
 
@@ -47,9 +46,7 @@ def create_circular_mask(
     return dist_from_center_squared <= radius_squared
 
 
-def estimate_hfr(
-    image: np.ndarray, hfr_max: Optional[float] = None, tolerance: float = 0.1
-) -> float:
+def estimate_hfr(image: np.ndarray, hfr_max: float | None = None, tolerance: float = 0.1) -> float:
     """Estimates the half flux radius (HFR) of a star.
 
     Args:
@@ -180,7 +177,7 @@ def autofocus(
     focuser: focusers.Focuser,
     focuser_steps: np.ndarray,
     skip_final_move: bool = False,
-    output_dir: Optional[str] = None,
+    output_dir: str | None = None,
     show_plot: bool = False,
 ) -> int:
     """Automatically focus the camera.

track/cameras.py

@@ -10,7 +10,6 @@
 from abc import abstractmethod
 from contextlib import AbstractContextManager
 import logging
-from typing import Tuple
 from math import inf
 import enum
 import os
@@ -68,7 +67,7 @@ def binning(self) -> int:
 
     @property
     @abstractmethod
-    def field_of_view(self) -> Tuple[float, float]:
+    def field_of_view(self) -> tuple[float, float]:
         """Field of view of the camera.
 
         This is a function of the camera physical sensor size and the focal length of the optical
@@ -80,7 +79,7 @@ def field_of_view(self) -> Tuple[float, float]:
 
     @property
     @abstractmethod
-    def frame_shape(self) -> Tuple[int, int]:
+    def frame_shape(self) -> tuple[int, int]:
         """Dimensions of the frame in pixels.
 
         This should be identical to the .shape property of the arrays returned by get_frame(). It
@@ -224,7 +223,7 @@ def add_program_arguments(parser: ArgParser) -> None:
         )
 
     @staticmethod
-    def from_program_args(args: Namespace) -> 'ASICamera':
+    def from_program_args(args: Namespace) -> ASICamera:
         """Factory to make a WebCam instance from program arguments
 
         Args:
@@ -298,7 +297,7 @@ def __exit__(self, exc_type, exc_value, traceback) -> bool:
         if hasattr(self, 'info') and self.info is not None:
             ASICheck(asi.ASICloseCamera(self.info.CameraID))
             logger.info(f'Closed camera {self.info.Name}')
-        if isinstance(exc_value, (KeyboardInterrupt, SystemExit)):
+        if isinstance(exc_value, KeyboardInterrupt | SystemExit):
             logger.info(f'Handling {type(exc_value).__name__}')
             return True  # prevent exception propagation
         return False
@@ -321,12 +320,12 @@ def binning(self) -> int:
         return self._binning
 
     @property
-    def frame_shape(self) -> Tuple[int, int]:
+    def frame_shape(self) -> tuple[int, int]:
         """Shape of array returned by get_frame()"""
         return self._frame_shape
 
     @property
-    def field_of_view(self) -> Tuple[float, float]:
+    def field_of_view(self) -> tuple[float, float]:
         """Field of view of the camera (height, width) in degrees."""
         return (self._pixel_scale * self.info.MaxHeight, self._pixel_scale * self.info.MaxWidth)
 
@@ -481,7 +480,7 @@ def add_program_arguments(parser: ArgParser) -> None:
         )
 
     @staticmethod
-    def from_program_args(args: Namespace) -> 'WebCam':
+    def from_program_args(args: Namespace) -> WebCam:
         """Factory to make a WebCam instance from program arguments"""
         return WebCam(
             dev_path=args.webcam_dev,
@@ -532,17 +531,17 @@ def __exit__(self, exc_type, exc_value, traceback) -> bool:
         if self.dev_fd != -1:
             os.close(self.dev_fd)
         logger.info('Closed webcam.')
-        if isinstance(exc_value, (KeyboardInterrupt, SystemExit)):
+        if isinstance(exc_value, KeyboardInterrupt | SystemExit):
             logger.info(f'Handling {type(exc_value).__name__}')
             return True  # prevent exception propagation
         return False
 
     @property
-    def frame_shape(self) -> Tuple[int, int]:
+    def frame_shape(self) -> tuple[int, int]:
         return self._frame_shape
 
     @property
-    def field_of_view(self) -> Tuple[float, float]:
+    def field_of_view(self) -> tuple[float, float]:
         # pylint: disable=consider-using-generator
         return tuple([self._pixel_scale * side for side in self._frame_shape])
 
@@ -687,7 +686,7 @@ def _enum_common(self, req, l_getreq):
             idx += 1
         return results
 
-    def _verify_capabilities(self) -> Tuple[int, int]:
+    def _verify_capabilities(self) -> tuple[int, int]:
         fmt = v4l2.v4l2_format(type=v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE)
         self._v4l2_ioctl(v4l2.VIDIOC_G_FMT, fmt)
 
@@ -721,7 +720,7 @@ def _set_jpeg_quality(self, quality):
             v4l2.VIDIOC_S_JPEGCOMP, jpegcomp, 'failed to set JPEG compression quality'
         )
 
-    def _set_format(self, shape_wanted: Tuple[int, int], fourcc) -> Tuple[int, int]:
+    def _set_format(self, shape_wanted: tuple[int, int], fourcc) -> tuple[int, int]:
         """roughly equivalent to v4l2capture's set_format"""
         assert not self.started
 

track/compvis.py

@@ -1,11 +1,10 @@
 """Computer vision algorithms for identifying targets in a camera frame"""
 
-from typing import List, Optional, Tuple
 import numpy as np
 import cv2
 
 
-def find_features(frame: np.ndarray) -> List[cv2.KeyPoint]:
+def find_features(frame: np.ndarray) -> list[cv2.KeyPoint]:
     """Find bright features in a camera frame.
 
     Args:
@@ -67,7 +66,7 @@ def __init__(
         frame_width: int,
         frame_height: int,
         crosshairs_gap_to_height: float = 0.1,
-        target_position_desired: Optional[Tuple[float, float]] = None,
+        target_position_desired: tuple[float, float] | None = None,
         window_title: str = 'track: Guidescope Camera',
     ):
         """Constructs an instance of PreviewWindow.
@@ -99,8 +98,8 @@ def __init__(
     def show_annotated_frame(
         self,
         frame: np.ndarray,
-        keypoints: Optional[List[cv2.KeyPoint]] = None,
-        target_keypoint: Optional[cv2.KeyPoint] = None,
+        keypoints: list[cv2.KeyPoint] | None = None,
+        target_keypoint: cv2.KeyPoint | None = None,
     ) -> None:
         """Displays camera frame in a window with features circled and crosshairs.
 

track/control.py

@@ -6,7 +6,8 @@
 from datetime import datetime
 import time
 from enum import Flag, auto
-from typing import Callable, NamedTuple, Tuple, Optional, Union
+from typing import NamedTuple
+from collections.abc import Callable
 import numpy as np
 from scipy.optimize import minimize
 import astropy.units as u
@@ -55,9 +56,9 @@ def separation(sc1: SkyCoord, sc2: SkyCoord) -> Angle:
 
 
 def smallest_allowed_error(
-    mount_enc_position: Union[float, np.ndarray],
-    target_enc_position: Union[float, np.ndarray],
-    no_cross_position: Optional[float] = None,
+    mount_enc_position: float | np.ndarray,
+    target_enc_position: float | np.ndarray,
+    no_cross_position: float | None = None,
 ) -> np.ndarray:
     """Compute error term for a single axis taking into account no-cross positions
 
@@ -134,7 +135,7 @@ class MountState(NamedTuple):
 
     time_queried: Time
     position: MountEncoderPositions
-    rates: Tuple
+    rates: tuple
 
 
 class ModelPredictiveController:
@@ -336,7 +337,7 @@ def _objective(
         positions_target: np.ndarray,
         position_axis_start: float,
         slew_rate_start: float,
-        no_cross_position: Optional[float] = None,
+        no_cross_position: float | None = None,
     ) -> float:
         """The objective (cost) function that the optimizer attempts to minimize.
 
@@ -398,8 +399,8 @@ class StoppingConditions(NamedTuple):
                 criterion is met.
         """
 
-        timeout: Optional[float]
-        error_threshold: Optional[Angle]
+        timeout: float | None
+        error_threshold: Angle | None
 
     class StopReason(Flag):
         """Tracker `run()` method return value indicating stop reason or reasons."""
@@ -414,7 +415,7 @@ def __init__(
         mount_model: MountModel,
         target: Target,
         control_loop_period: float = 0.1,
-        telem_logger: Optional[TelemLogger] = None,
+        telem_logger: TelemLogger | None = None,
     ):
         """Constructs a Tracker object.
 
@@ -470,7 +471,7 @@ def register_callback(self, callback: Callable[["Tracker"], bool]) -> None:
         """
         self.callback = callback
 
-    def run(self, stopping_conditions: Optional[StoppingConditions] = None) -> "Tracker.StopReason":
+    def run(self, stopping_conditions: StoppingConditions | None = None) -> "Tracker.StopReason":
         """Run the control loop.
 
         Starts the control loop. This function is blocking and will not return until an error
@@ -536,10 +537,10 @@ def run(self, stopping_conditions: Optional[StoppingConditions] = None) -> "Trac
 
     def _finish_control_cycle(
         self,
-        cycle_period: Optional[float],
+        cycle_period: float | None,
         mount_state: MountState,
-        rate_command: Optional[SlewRateCommand] = None,
-        rate_command_time_error: Optional[float] = None,
+        rate_command: SlewRateCommand | None = None,
+        rate_command_time_error: float | None = None,
         callback_override: bool = False,
     ) -> "Tracker.StopReason":
         """Final tasks to perform at the end of each control cycle."""
@@ -648,7 +649,7 @@ def _finish_control_cycle(
         return stop_reason
 
     def _check_stopping_conditions(
-        self, error_magnitude: Optional[Angle] = None
+        self, error_magnitude: Angle | None = None
     ) -> "Tracker.StopReason":
         """Checks if any set stopping conditions are satisfied.
 

track/focusers.py

@@ -8,7 +8,6 @@
 from __future__ import annotations
 from abc import ABC, abstractmethod
 import time
-from typing import Optional
 import serial
 from configargparse import Namespace
 from track.config import ArgParser
@@ -146,7 +145,7 @@ def __init__(
         self._max_position = max_position
         self._serial = serial.Serial(device, baudrate=9600, timeout=read_timeout)
 
-    def _send_command(self, command: bytearray, response_len: int) -> Optional[bytearray]:
+    def _send_command(self, command: bytearray, response_len: int) -> bytearray | None:
         """Sends a command to the focuser and reads back the response.
 
         Args:

track/gamepad.py

@@ -11,7 +11,7 @@
 import signal
 import threading
 import time
-from typing import Callable, List, Optional
+from collections.abc import Callable
 import selectors
 import inputs
 import numpy as np
@@ -114,7 +114,7 @@ def __init__(self, left_gain=1.0, right_gain=0.1, int_limit=1.0, int_loop_period
 
         logger.info('Gamepad found and registered.')
 
-    def __enter__(self) -> Optional[Gamepad]:
+    def __enter__(self) -> Gamepad | None:
         """Support usage of this class in `with` statements.
 
         Returns:
@@ -128,7 +128,7 @@ def __exit__(self, exc_type, exc_value, traceback) -> bool:
             self.stop()
             self.sel.unregister(self.gamepad._character_device)
             self.gamepad = None
-        if isinstance(exc_value, (KeyboardInterrupt, SystemExit)):
+        if isinstance(exc_value, KeyboardInterrupt | SystemExit):
             logger.info(f'Handling {type(exc_value).__name__}')
             return True  # prevent exception propagation
         return False
@@ -157,7 +157,7 @@ def get_value(self):
             return self.get_proportional()
 
     def register_callback(
-        self, event_code: Optional[str] = None, callback: Optional[Callable[[int], None]] = None
+        self, event_code: str | None = None, callback: Callable[[int], None] | None = None
     ):
         """Register a callback function to be called when a particular gamepad event occurs.
 
@@ -273,7 +273,7 @@ def __integrator(self):
             if time_sleep > 0:
                 time.sleep(time_sleep)
 
-    def get_telem_points(self) -> List[Point]:
+    def get_telem_points(self) -> list[Point]:
         """Called by telemetry logger. See `TelemSource` abstract base class."""
 
         point = Point('gamepad')