formatting

crazyflie_py/crazyflie_py/crazyflie.py

@@ -14,7 +14,7 @@
 # from .visualizer import visNull
 
 
-from crazyflie_interfaces.msg import FullState, Position, TrajectoryPolynomialPiece, Status
+from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece
 from crazyflie_interfaces.srv import GoTo, Land,\
  NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory
 from geometry_msgs.msg import Point
@@ -136,7 +136,8 @@ def __init__(self, node, cfname, paramTypeDict):
  self.setParamsService = node.create_client(
  SetParameters, '/crazyflie_server/set_parameters')
  self.setParamsService.wait_for_service()
- self.statusSubscriber = node.create_subscription(Status, f'{self.prefix}/status', self.status_topic_callback, 10)
+ self.statusSubscriber = node.create_subscription(
+ Status, f'{self.prefix}/status', self.status_topic_callback, 10)
  self.status = {}
 
  # Query some settings
@@ -700,23 +701,30 @@ def cmdPosition(self, pos, yaw=0.):
  # self.setParam('ring/solidRed', int(r * 255))
  # self.setParam('ring/solidGreen', int(g * 255))
  # self.setParam('ring/solidBlue', int(b * 255))
- 
+
  def status_topic_callback(self, msg):
- """Callback method updating the status attribute every time 
- a crazyflie_interfaces/msg/Status message is published on the topic /cfXXX/status """
+ """
+ Callback method updating the status attribute every time a 
+ crazyflie_interfaces/msg/Status message is published on the topic /cfXXX/status
  
- self.status = {'id' : msg.header.frame_id, 'timestamp_sec': msg.header.stamp.sec, 
- 'timestamp_nsec' : msg.header.stamp.nanosec, 'supervisor' : msg.supervisor_info,
- 'battery' : msg.battery_voltage, 'pm_state' : msg.pm_state, 'rssi' : msg.rssi, 
- 'num_rx_broadcast':msg.num_rx_broadcast, 'num_tx_broadcast' : msg.num_tx_broadcast,
- 'num_rx_unicast':msg.num_rx_unicast, 'num_tx_unicast' : msg.num_tx_unicast}
+ """
+ self.status = {'id': msg.header.frame_id, 
+ 'timestamp_sec': msg.header.stamp.sec, 
+ 'timestamp_nsec': msg.header.stamp.nanosec, 
+ 'supervisor': msg.supervisor_info,
+ 'battery': msg.battery_voltage, 
+ 'pm_state' : msg.pm_state, 
+ 'rssi': msg.rssi, 
+ 'num_rx_broadcast':msg.num_rx_broadcast, 
+ 'num_tx_broadcast': msg.num_tx_broadcast,
+ 'num_rx_unicast':msg.num_rx_unicast, 
+ 'num_tx_unicast': msg.num_tx_unicast}
 
-
  def get_status(self):
- """Returns the status dictionary containing info about: 
- frame id, timestamp, supervisor info, battery voltage, pm state, rssi, number of received or
- transmitted broadcast or unicast messages. see crazyflie_interfaces/msg/Status for details"""
-
+ """Returns the status dictionary containing info about:
+ frame id, timestamp, supervisor info, battery voltage, pm state, rssi, nb of received or
+ transmitted broadcast or unicast messages. see crazyflie_interfaces/msg/Status for details
+ """
  # self.node.get_logger().info(f'Crazyflie.get_status() was called {self.status}')
  return self.status