Merge pull request IMRCLab#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()