Merge pull request #321 from IMRCLab/feature_crazyfliepy_flake8

crazyflie_py: fix flake8 and pep256 issues

.github/workflows/ci-ros2.yml

@@ -42,14 +42,21 @@ jobs:
           sudo apt update
           sudo apt install -y libusb-1.0-0-dev
 
+      - name: install pip dependencies
+          # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/
+          # but this requires some upstream changes
+        run: |
+          pip install rowan
+
       - uses: actions/checkout@v2
       - name: build and test ROS 2
         uses: ros-tooling/action-ros-ci@v0.3
         with:
-          # TODO: removed crazyflie_interfaces since it causes some test failures
           package-name: |
             crazyflie
             crazyflie_examples
+            crazyflie_interfaces
+            crazyflie_py
             crazyflie_sim
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: rosinstall

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

@@ -1,13 +1,14 @@
 import rclpy
 
 from . import genericJoystick
-from .crazyflie import TimeHelper, CrazyflieServer
+from .crazyflie import CrazyflieServer, TimeHelper
 
 
 class Crazyswarm:
+
     def __init__(self):
         rclpy.init()
-        
+
         self.allcfs = CrazyflieServer()
         self.timeHelper = TimeHelper(self.allcfs)
 

crazyflie_py/crazyflie_py/genericJoystick.py

@@ -1,6 +1,6 @@
-import time
 import copy
 # import pyglet
+
 from . import keyboard
 
 # class JoyStickHandler:
@@ -20,7 +20,9 @@
 #     def on_joyhat_motion(joystick, hat_x, hat_y):
 #         pass
 
+
 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)
@@ -77,7 +79,6 @@ def waitUntilButtonPressed(self):
                 while keyPoller.poll() is not None:
                     self.timeHelper.sleep(0.01)
 
-
     def checkIfAnyButtonIsPressed(self):
         if self.joyID is not None:
             state = self.js.read(self.joyID)

crazyflie_py/crazyflie_py/joystick.py

@@ -1,17 +1,20 @@
 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
-            data.buttons[5] == 1 and
-            self.lastButtonState == 0):
+                data.buttons[5] == 1 and
+                self.lastButtonState == 0):
             self.buttonWasPressed = True
         self.lastButtonState = data.buttons[5]
 

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()
@@ -16,11 +17,11 @@ 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):
-        dr,dw,de = select.select([sys.stdin], [], [], 0)
+        dr, dw, de = select.select([sys.stdin], [], [], 0)
         if not dr == []:
             return sys.stdin.read(1)
         return None

crazyflie_py/crazyflie_py/linuxjsdev.py

@@ -23,8 +23,9 @@
 #  along with this program; if not, write to the Free Software Foundation,
 #  Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 """
-Linux joystick driver using the Linux input_joystick subsystem. Requires sysfs
-to be mounted on /sys and /dev/input/js* to be readable.
+Linux joystick driver using the Linux input_joystick subsystem.
+
+Requires sysfs to be mounted on /sys and /dev/input/js* to be readable.
 
 This module is very linux specific but should work on any CPU platform
 """
@@ -36,19 +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
@@ -62,24 +63,23 @@
 JSIOCGAXES = 0x80016a11
 JSIOCGBUTTONS = 0x80016a12
 
-MODULE_MAIN = "Joystick"
-MODULE_NAME = "linuxjsdev"
+MODULE_MAIN = 'Joystick'
+MODULE_NAME = 'linuxjsdev'
 
 
 class JEvent(object):
-    """
-    Joystick event class. Encapsulate single joystick event.
-    """
+    """Joystick event class. Encapsulate single joystick event."""
 
     def __init__(self, evt_type, number, value):
         self.type = evt_type
         self.number = number
         self.value = value
 
     def __repr__(self):
-        return "JEvent(type={}, number={}, value={})".format(
+        return 'JEvent(type={}, number={}, value={})'.format(
             self.type, self.number, self.value)
 
+
 # Constants
 TYPE_BUTTON = 1
 TYPE_AXIS = 2
@@ -90,64 +90,64 @@ 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"""
+        """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
 
     def __initvalues(self):
-        """Read the buttons and axes initial values from the js device"""
+        """Read the buttons and axes initial values from the js device."""
         for _ in range(len(self.axes) + len(self.buttons)):
             data = self._f.read(struct.calcsize(JS_EVENT_FMT))
             jsdata = struct.unpack(JS_EVENT_FMT, data)
             self.__updatestate(jsdata)
 
     def __updatestate(self, jsdata):
-        """Update the internal absolute state of buttons and axes"""
+        """Update the internal absolute state of buttons and axes."""
         if jsdata[JE_TYPE] & JS_EVENT_AXIS != 0:
             self.axes[jsdata[JE_NUMBER]] = jsdata[JE_VALUE] / 32768.0
         elif jsdata[JE_TYPE] & JS_EVENT_BUTTON != 0:
             self.buttons[jsdata[JE_NUMBER]] = jsdata[JE_VALUE]
 
     def __decode_event(self, jsdata):
-        """ Decode a jsdev event into a dict """
+        """Decode a jsdev event into a dict."""
         # TODO: Add timestamp?
         if jsdata[JE_TYPE] & JS_EVENT_AXIS != 0:
             return JEvent(evt_type=TYPE_AXIS,
@@ -159,7 +159,7 @@ def __decode_event(self, jsdata):
                           value=jsdata[JE_VALUE] / 32768.0)
 
     def _read_all_events(self):
-        """Consume all the events queued up in the JS device"""
+        """Consume all the events queued up in the JS device."""
         try:
             while True:
                 data = self._f.read(struct.calcsize(JS_EVENT_FMT))
@@ -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:
@@ -182,19 +182,17 @@ def _read_all_events(self):
             pass
 
     def read(self):
-        """ Returns a list of all joystick event since the last call """
+        """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()
 
         return [self.axes, self.buttons]
 
 
 class Joystick():
-    """
-    Linux jsdev implementation of the Joystick class
-    """
+    """Linux jsdev implementation of the Joystick class."""
 
     def __init__(self):
         self.name = MODULE_NAME
@@ -203,31 +201,30 @@ def __init__(self):
 
     def devices(self):
         """
-        Returns a list containing an {"id": id, "name": name} dict for each
-        detected device. Result is cached once one or more devices are found.
+        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):
-        """
-        Open the joystick device. The device_id is given by available_devices
-        """
+    def open(self, device_id):  # noqa: A003
+        """Open the joystick device. The device_id is given by available_devices."""
         self._js[device_id].open()
 
     def close(self, device_id):
-        """Open the joystick device"""
+        """Open the joystick device."""
         self._js[device_id].close()
 
     def read(self, device_id):
-        """ Returns a list of all joystick event since the last call """
+        """Return a list of all joystick event since the last call."""
         return self._js[device_id].read()