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