fix more flake8 issues

crazyflie_py/crazyflie_py/__init__.py

@@ -1,3 +1,3 @@
 from .crazyswarm_py import Crazyswarm
 
-__all__ = ["Crazyswarm"]
+__all__ = ['Crazyswarm']

crazyflie_py/crazyflie_py/crazyswarm_py.py

@@ -1,10 +1,11 @@
 import rclpy
 
 from . import genericJoystick
-from .crazyflie import TimeHelper, CrazyflieServer
+from .crazyflie import CrazyflieServer, TimeHelper
 
 
 class Crazyswarm:
+
     def __init__(self):
         rclpy.init()
 

crazyflie_py/crazyflie_py/genericJoystick.py

@@ -1,5 +1,6 @@
 import copy
 # import pyglet
+
 from . import keyboard
 
 # class JoyStickHandler:
@@ -21,6 +22,7 @@
 
 
 class Joystick:
+
     def __init__(self, timeHelper):
         # joysticks = pyglet.input.get_joysticks()
         # joystick = joysticks[0]
@@ -35,14 +37,14 @@ def __init__(self, timeHelper):
             self.js = linuxjsdev.Joystick()
             devices = self.js.devices()
             if len(devices) == 0:
-                print("Warning: No joystick found!")
+                print('Warning: No joystick found!')
             else:
-                ids = [dev["id"] for dev in devices]
+                ids = [dev['id'] for dev in devices]
                 # For backwards compatibility, always choose device 0 if available.
-                self.joyID = 0 if 0 in ids else devices[0]["id"]
+                self.joyID = 0 if 0 in ids else devices[0]['id']
                 self.js.open(self.joyID)
         except ImportError:
-            print("Warning: Joystick only supported on Linux.")
+            print('Warning: Joystick only supported on Linux.')
 
     # def on_joybutton_press(joystick, button):
         # print(button)

crazyflie_py/crazyflie_py/joystick.py

@@ -1,13 +1,15 @@
 import time
+
 import rospy
 from sensor_msgs.msg import Joy
 
 
 class Joystick:
+
     def __init__(self):
         self.lastButtonState = 0
         self.buttonWasPressed = False
-        rospy.Subscriber("/joy", Joy, self.joyChanged)
+        rospy.Subscriber('/joy', Joy, self.joyChanged)
 
     def joyChanged(self, data):
         if (not self.buttonWasPressed and

crazyflie_py/crazyflie_py/keyboard.py

@@ -1,9 +1,10 @@
-import sys
 import select
+import sys
 import termios
 
 
 class KeyPoller():
+
     def __enter__(self):
         # Save the terminal settings
         self.fd = sys.stdin.fileno()
@@ -16,7 +17,7 @@ def __enter__(self):
 
         return self
 
-    def __exit__(self, type, value, traceback):
+    def __exit__(self, type, value, traceback):  # noqa A002
         termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
 
     def poll(self):

crazyflie_py/crazyflie_py/linuxjsdev.py

@@ -37,19 +37,19 @@
 import sys
 
 if not sys.platform.startswith('linux'):
-    raise ImportError("Only supported on Linux")
+    raise ImportError('Only supported on Linux')
 
 try:
     import fcntl
 except ImportError as e:
-    raise Exception("fcntl library probably not installed ({})".format(e))
+    raise Exception('fcntl library probably not installed ({})'.format(e))
 
 __author__ = 'Bitcraze AB'
 __all__ = ['Joystick']
 
 logger = logging.getLogger(__name__)
 
-JS_EVENT_FMT = "@IhBB"
+JS_EVENT_FMT = '@IhBB'
 JE_TIME = 0
 JE_VALUE = 1
 JE_TYPE = 2
@@ -63,8 +63,8 @@
 JSIOCGAXES = 0x80016a11
 JSIOCGBUTTONS = 0x80016a12
 
-MODULE_MAIN = "Joystick"
-MODULE_NAME = "linuxjsdev"
+MODULE_MAIN = 'Joystick'
+MODULE_NAME = 'linuxjsdev'
 
 
 class JEvent(object):
@@ -76,7 +76,7 @@ def __init__(self, evt_type, number, value):
         self.value = value
 
     def __repr__(self):
-        return "JEvent(type={}, number={}, value={})".format(
+        return 'JEvent(type={}, number={}, value={})'.format(
             self.type, self.number, self.value)
 
 
@@ -90,44 +90,44 @@ class _JS():
     def __init__(self, num, name):
         self.num = num
         self.name = name
-        self._f_name = "/dev/input/js{}".format(num)
+        self._f_name = '/dev/input/js{}'.format(num)
         self._f = None
 
         self.opened = False
         self.buttons = []
         self.axes = []
         self._prev_pressed = {}
 
-    def open(self):
+    def open(self):  # noqa: A003
         if self._f:
-            raise Exception("{} at {} is already "
-                            "opened".format(self.name, self._f_name))
+            raise Exception('{} at {} is already '
+                            'opened'.format(self.name, self._f_name))
 
-        self._f = open("/dev/input/js{}".format(self.num), "rb")
+        self._f = open('/dev/input/js{}'.format(self.num), 'rb')
         fcntl.fcntl(self._f.fileno(), fcntl.F_SETFL, os.O_NONBLOCK)
 
         # Get number of axis and button
         val = ctypes.c_int()
         if fcntl.ioctl(self._f.fileno(), JSIOCGAXES, val) != 0:
             self._f.close()
             self._f = None
-            raise Exception("Failed to read number of axes")
+            raise Exception('Failed to read number of axes')
 
-        self.axes = list(0 for i in range(val.value))
+        self.axes = [0 for i in range(val.value)]
         if fcntl.ioctl(self._f.fileno(), JSIOCGBUTTONS, val) != 0:
             self._f.close()
             self._f = None
-            raise Exception("Failed to read number of axes")
+            raise Exception('Failed to read number of axes')
 
-        self.buttons = list(0 for i in range(val.value))
+        self.buttons = [0 for i in range(val.value)]
         self.__initvalues()
 
     def close(self):
         """Open the joystick device."""
         if not self._f:
             return
 
-        logger.info("Closed {} ({})".format(self.name, self.num))
+        logger.info('Closed {} ({})'.format(self.name, self.num))
 
         self._f.close()
         self._f = None
@@ -170,7 +170,7 @@ def _read_all_events(self):
                 logger.info(str(e))
                 self._f.close()
                 self._f = None
-                raise IOError("Device has been disconnected")
+                raise IOError('Device has been disconnected')
         except TypeError:
             pass
         except ValueError:
@@ -184,7 +184,7 @@ def _read_all_events(self):
     def read(self):
         """Return a list of all joystick event since the last call."""
         if not self._f:
-            raise Exception("Joystick device not opened")
+            raise Exception('Joystick device not opened')
 
         self._read_all_events()
 
@@ -201,23 +201,23 @@ def __init__(self):
 
     def devices(self):
         """
-        Return a list containing an {"id": id, "name": name} dict for each detected device.
+        Return a list containing an {'id': id, 'name': name} dict for each detected device.
 
         Result is cached once one or more devices are found.
         """
         if len(self._devices) == 0:
-            syspaths = glob.glob("/sys/class/input/js*")
+            syspaths = glob.glob('/sys/class/input/js*')
 
             for path in syspaths:
                 device_id = int(os.path.basename(path)[2:])
-                with open(path + "/device/name") as namefile:
+                with open(path + '/device/name') as namefile:
                     name = namefile.read().strip()
                 self._js[device_id] = _JS(device_id, name)
-                self._devices.append({"id": device_id, "name": name})
+                self._devices.append({'id': device_id, 'name': name})
 
         return self._devices
 
-    def open(self, device_id):
+    def open(self, device_id):  # noqa: A003
         """Open the joystick device. The device_id is given by available_devices."""
         self._js[device_id].open()
 

crazyflie_py/crazyflie_py/uav_trajectory.py

@@ -10,11 +10,12 @@ def normalize(v):
 
 
 class Polynomial:
+
     def __init__(self, p):
         self.p = p
 
     # evaluate a polynomial using horner's rule
-    def eval(self, t):
+    def eval(self, t):  # noqa: A003
         assert t >= 0
         x = 0.0
         for i in range(0, len(self.p)):
@@ -27,6 +28,7 @@ def derivative(self):
 
 
 class TrajectoryOutput:
+
     def __init__(self):
         self.pos = None    # position [m]
         self.vel = None    # velocity [m/s]
@@ -37,6 +39,7 @@ def __init__(self):
 
 # 4d single polynomial piece for x-y-z-yaw, includes duration.
 class Polynomial4D:
+
     def __init__(self, duration, px, py, pz, pyaw):
         self.duration = duration
         self.px = Polynomial(px)
@@ -53,7 +56,7 @@ def derivative(self):
             self.pz.derivative().p,
             self.pyaw.derivative().p)
 
-    def eval(self, t):
+    def eval(self, t):  # noqa: A003
         result = TrajectoryOutput()
         # flat variables
         result.pos = np.array([self.px.eval(t), self.py.eval(t), self.pz.eval(t)])
@@ -93,6 +96,7 @@ def eval(self, t):
 
 
 class Trajectory:
+
     def __init__(self):
         self.polynomials = None
         self.duration = None
@@ -101,12 +105,12 @@ def n_pieces(self):
         return len(self.polynomials)
 
     def loadcsv(self, filename):
-        data = np.loadtxt(filename, delimiter=",", skiprows=1, usecols=range(33))
+        data = np.loadtxt(filename, delimiter=',', skiprows=1, usecols=range(33))
         self.polynomials = [Polynomial4D(row[0], row[1:9],
                                          row[9:17], row[17:25], row[25:33]) for row in data]
         self.duration = np.sum(data[:, 0])
 
-    def eval(self, t):
+    def eval(self, t):  # noqa: A003
         assert t >= 0
         assert t <= self.duration