CI: fix and enable formatting checks (#39)

* fix CI

* CI: only run on PR

* CI: push in utils package to scope and avoid name clash

* CI: enable formatting check and format everything

* fix some imports

* CI: enable isort and sort imports

* shorten long lines

* more formatting fixes

Author: bresch

.github/workflows/lint_python.yml

@@ -1,22 +1,22 @@
 name: lint_python
-on: [pull_request, push]
+on: [pull_request]
 jobs:
   lint_python:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
         with:
-          python-version: '3.10.1'
+          python-version: '3.10.12'
       - run: pip install bandit black codespell flake8 isort mypy pytest pyupgrade safety
       - run: bandit --recursive --skip B101 .
-      - run: black --check . || true
-      - run: codespell  # --ignore-words-list="" --skip=""
+      - run: black --check .
+      - run: codespell  --ignore-words-list= Bu
       - run: flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
       - run: flake8 . --count --exit-zero --max-complexity=10 --max-line-length=88 --show-source --statistics
-      - run: isort --check-only --profile black . || true
+      - run: isort --check-only --profile black .
       - run: pip install -r requirements.txt
       - run: mypy --ignore-missing-imports  --install-types --non-interactive . || true
       - run: pytest . || pytest --doctest-modules . || true
       - run: shopt -s globstar && pyupgrade --py36-plus **/*.py || true
-      - run: safety check --full-report || true
+      - run: safety check

autotune/arx_rls.py

@@ -67,61 +67,67 @@
 
 import numpy as np
 
+
 class ArxRls(object):
     def __init__(self, n, m, d, lbda=1.0):
         self._n = n
         self._m = m
         self._d = d
-        p = n+m+1 # number of parameters (+1 because of b_0)
-        self._P = 10000 * np.asmatrix(np.eye(p)) # initialize to a large value
-        self._theta_hat = np.transpose(np.asmatrix(np.zeros(n+m+1)))
-        self._y = np.zeros(n+1)
-        self._u = np.zeros(m+d+1)
+        p = n + m + 1  # number of parameters (+1 because of b_0)
+        self._P = 10000 * np.asmatrix(np.eye(p))  # initialize to a large value
+        self._theta_hat = np.transpose(np.asmatrix(np.zeros(n + m + 1)))
+        self._y = np.zeros(n + 1)
+        self._u = np.zeros(m + d + 1)
         self._lbda = lbda
 
     def update(self, u, y):
         self.addInputOutput(u, y)
         phi = self.constructPhi()
         lbda = self._lbda
-        self._P = (self._P - self._P * phi * phi.T * self._P / (lbda + phi.T * self._P * phi))/lbda # eq 3.66
-        self._theta_hat += self._P * phi*(self._y[self._n] - phi.T * self._theta_hat) # eq 3.67
+        self._P = (
+            self._P - self._P * phi * phi.T * self._P / (lbda + phi.T * self._P * phi)
+        ) / lbda  # eq 3.66
+        self._theta_hat += (
+            self._P * phi * (self._y[self._n] - phi.T * self._theta_hat)
+        )  # eq 3.67
 
         return self._theta_hat, self._P
 
     def addInputOutput(self, u, y):
         self.shiftRegisters()
         self._y[self._n] = y
-        self._u[self._m+self._d] = u
+        self._u[self._m + self._d] = u
 
     def shiftRegisters(self):
         for i in range(0, self._n):
-            self._y[i] = self._y[i+1]
-        for i in range(0, self._m+self._d):
-            self._u[i] = self._u[i+1]
+            self._y[i] = self._y[i + 1]
+        for i in range(0, self._m + self._d):
+            self._u[i] = self._u[i + 1]
 
     def constructPhi(self):
-        phi_a = np.asmatrix([-self._y[self._n-(i+1)] for i in range(self._n)])
-        phi_b = np.asmatrix([self._u[self._m-i] for i in range(self._m+1)])
+        phi_a = np.asmatrix([-self._y[self._n - (i + 1)] for i in range(self._n)])
+        phi_b = np.asmatrix([self._u[self._m - i] for i in range(self._m + 1)])
         phi = (np.concatenate((phi_a, phi_b), axis=1)).T
         return phi
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     n = 2
     m = 1
     d = 1
     rls = ArxRls(n, m, d)
 
-    assert len(rls._y) == n+1
-    assert len(rls._u) == m+d+1
+    assert len(rls._y) == n + 1
+    assert len(rls._u) == m + d + 1
     rls.update(1, 2)
     rls.update(3, 4)
     rls.update(5, 6)
     assert rls._u.item(-1) == 5
     assert rls._y.item(-1) == 6
     phi = rls.constructPhi()
     assert len(phi) == 4
-    assert  phi.item(0) == -4
-    assert  phi.item(1) == -2
-    assert  phi.item(2) == 3
-    assert  phi.item(3) == 1
+    assert phi.item(0) == -4
+    assert phi.item(1) == -2
+    assert phi.item(2) == 3
+    assert phi.item(3) == 1
     print(rls._theta_hat)