hopefully fixed all flake8 issues and got rid of get_statuses() in cr…

…azyflie_server

crazyflie_examples/crazyflie_examples/infinite_flight.py

@@ -35,22 +35,22 @@ def main():
 
         # fly figure8 until battery is low
         fig8_counter = 0
-        status = allcfs.get_statuses()[0]
+        status = allcfs.crazyflies[0].status()# status = allcfs.get_statuses()[0]
         # while status['battery'] > 3.8:
         while status['pm_state'] == 0:
             fig8_counter += 1
             print(f'starting figure8 number {fig8_counter} of flight number {flight_counter}')
             allcfs.startTrajectory(0, timescale=TIMESCALE)
             timeHelper.sleep(traj1.duration * TIMESCALE + 2.0)
-            status = allcfs.get_statuses()[0]
+            status = allcfs.crazyflies[0].status() # status = allcfs.get_statuses()[0]
             print(f'pm state : {status["pm_state"]}, battery left : {status["battery"]}')
             timeHelper.sleep(1)
 
 
         # not sure if useful
         # check if pm = 3 just to be sure, if not abort test 
         if status['pm_state'] != 3:
-            print(f'power state is not 3 (low) but {status['pm_state']}. Landing and aborting')
+            print(f'power state is not 3 (low) but {status["pm_state"]}. Landing and aborting')
             allcfs.land(targetHeight=0.06, duration=2.0)
             timeHelper.sleep(3)
             return 1                    
@@ -61,7 +61,7 @@ def main():
         # now that battery is low, we try to land on the pad and see if it's charging
         allcfs.land(targetHeight=0.06, duration=2.0)
         timeHelper.sleep(5)
-        status = allcfs.get_statuses()[0]
+        status = allcfs.crazyflies[0].status() # status = allcfs.get_statuses()[0]
 
         # if not charging, take off and land back again until it charges
         while status['pm_state'] != 1:
@@ -74,17 +74,16 @@ def main():
             timeHelper.sleep(2.5)
             allcfs.land(targetHeight=0.06, duration=2.0)
             timeHelper.sleep(5)
-            status = allcfs.get_statuses()[0]
+            status = allcfs.crazyflies[0].status() # status = allcfs.get_statuses()[0]
 
 
         # now we wait until the crazyflie is charged
         # while status['battery'] < 4.1:
         while status['pm_state'] != 2:
             print(f'not charged yet, battery at {status['battery']}V')
             timeHelper.sleep(60)
-            status = allcfs.get_statuses()[0]
-            ###not sure if useful
-            #check if it's still charging
+            status = allcfs.crazyflies[0].status( )#status = allcfs.get_statuses()[0]
+            #check if it's still charging ###not sure if this check is useful
             if status['pm_state'] != 1:
                 print(f'charging interrupted, pm state : {status['pm_state']}')
 

crazyflie_py/crazyflie_py/crazyflie.py

@@ -997,16 +997,3 @@ def cmdFullState(self, pos, vel, acc, yaw, omega):
         self.cmdFullStateMsg.twist.angular.y = omega[1]
         self.cmdFullStateMsg.twist.angular.z = omega[2]
         self.cmdFullStatePublisher.publish(self.cmdFullStateMsg)
-
-    def get_statuses(self):
-        '''
-        Obtain a list containing the status of each crazyflie controlled by the Crazyserver
-        Each status is a dict, see status_topic_callback() for more details
-        '''
-
-        # self.get_logger().info(f'Crazyserver.get_statuses() was called')
-        statuses = []
-        for cf in self.crazyflies:
-            statuses.append(cf.get_status())
-
-        return statuses