Lintering

Signed-off-by: Francisco Martín Rico <[email protected]>

mocap4r2cli/mocap4r2cli/api/__init__.py

@@ -12,8 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ros2cli.node.strategy import NodeStrategy
 from mocap4r2cli.verb import get_mocap_systems
+from ros2cli.node.strategy import NodeStrategy
+
 
 class MocapNameCompleter:
     """Callable returning a list of MOCAP4ROS2 system names."""

mocap4r2cli/mocap4r2cli/command/mocap4r2.py

@@ -15,6 +15,7 @@
 from ros2cli.command import add_subparsers_on_demand
 from ros2cli.command import CommandExtension
 
+
 class Mocap4r2Command(CommandExtension):
     """Various mocap4r2 related sub-commands."""
 

mocap4r2cli/mocap4r2cli/verb/__init__.py

@@ -12,25 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
-from ros2cli.plugin_system import satisfies_version
-
-import rclpy
-from rclpy.lifecycle import State
-from rclpy.time import Time
-from rclpy.qos import QoSProfile, QoSDurabilityPolicy
 
 from lifecycle_msgs.srv import GetState
 
-from mocap4r2_control_msgs.msg import MocapInfo
 from mocap4r2_control_msgs.msg import Control
+from mocap4r2_control_msgs.msg import MocapInfo
+
+import rclpy
+from rclpy.qos import QoSDurabilityPolicy, QoSProfile
+
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
 
 
 def get_mocap_systems(node):
-    clock = node.get_clock()    
+    clock = node.get_clock()
     start_time = clock.now()
     elapsed = clock.now() - start_time
-    
+
     qos_profile = QoSProfile(
                 durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
                 depth=10)
@@ -39,7 +38,7 @@ def get_mocap_systems(node):
     node.create_subscription(
         MocapInfo,
         '/mocap4r2_environment',
-        lambda msg: mocap_systems.append(msg.mocap4r2_source), 
+        lambda msg: mocap_systems.append(msg.mocap4r2_source),
         qos_profile)
 
     while rclpy.ok() and elapsed.nanoseconds / 1e9 < 0.5:
@@ -48,29 +47,34 @@ def get_mocap_systems(node):
 
     return mocap_systems
 
+
 def get_lc_status(node, mocap_lc_node):
     srv_name = '/' + mocap_lc_node + '/get_state'
     srv = node.create_client(GetState, srv_name)
-    
+
     if not srv.wait_for_service(timeout_sec=1.0):
-        node.get_logger().error('Mocap System ' + mocap_lc_node +  ' does not support MOCAP4ROS2 Control System')
+        node.get_logger().error('Mocap System ' + mocap_lc_node +
+                                ' does not support MOCAP4ROS2 Control System')
         return (None, False)
-    
+
     req = GetState.Request()
 
     future = srv.call_async(req)
     rclpy.spin_until_future_complete(node, future)
-    
+
     return (future.result().current_state, True)
 
+
 def send_start_control(node, mocap_lc_node):
     return send_control(node, mocap_lc_node, Control.START, Control.ACK_START)
 
+
 def send_stop_control(node, mocap_lc_node):
     return send_control(node, mocap_lc_node, Control.STOP, Control.ACK_STOP)
 
+
 def send_control(node, mocap_lc_node, command, ack_command):
-    clock = node.get_clock()    
+    clock = node.get_clock()
     start_time = clock.now()
     elapsed = clock.now() - start_time
 
@@ -99,7 +103,6 @@ def send_control(node, mocap_lc_node, command, ack_command):
     return ok
 
 
-
 class VerbExtension:
     """
     The extension point for 'mocap4r2' verb extensions.

mocap4r2cli/mocap4r2cli/verb/start.py

@@ -12,20 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import rclpy
-from rclpy.time import Time
 
-
-from rclpy.lifecycle import State
 from lifecycle_msgs.msg import State as LCState
 
-from mocap4r2_control_msgs.msg import MocapInfo
+from mocap4r2cli.api import MocapNameCompleter
+from mocap4r2cli.verb import get_lc_status, get_mocap_systems, send_start_control, VerbExtension
 
 from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
-from mocap4r2cli.verb import VerbExtension, get_lc_status, get_mocap_systems, send_start_control
 
-from mocap4r2cli.api import MocapNameCompleter
 
 class StartVerb(VerbExtension):
     """Start a MOCAP4ROS2 system."""
@@ -34,13 +29,13 @@ def add_arguments(self, parser, cli_name):
         add_arguments(parser)
         arg = parser.add_argument(
             'mocap_system',
-            help="Name of the MOCAP4ROS2 system to start")
+            help='Name of the MOCAP4ROS2 system to start')
         arg.completer = MocapNameCompleter()
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
             mocap_systems = get_mocap_systems(node)
-            
+
             if args.mocap_system in mocap_systems:
                 lc_status, ok = get_lc_status(node, args.mocap_system)
                 if ok:
@@ -58,6 +53,7 @@ def main(self, *, args):
                             node.get_logger().info(args.mocap_system + ' started')
                 else:
                     node.get_logger().error('Error getting status of ' + args.mocap_system)
-                   
+
             else:
-                node.get_logger().error('Mocap System ' + args.mocap_system +  ' not in detected MOCAP4ROS2 Control System')
+                node.get_logger().error('Mocap System ' + args.mocap_system +
+                                        ' not in detected MOCAP4ROS2 Control System')

mocap4r2cli/mocap4r2cli/verb/status.py

@@ -14,9 +14,11 @@
 
 from lifecycle_msgs.msg import State as LCState
 
+from mocap4r2cli.verb import get_lc_status, get_mocap_systems, VerbExtension
+
 from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
-from mocap4r2cli.verb import VerbExtension, get_lc_status, get_mocap_systems
+
 
 class StatusVerb(VerbExtension):
     """Prints the status of the MOCAP4ROS2 systems."""
@@ -27,13 +29,14 @@ def add_arguments(self, parser, cli_name):
     def main(self, *, args):
         with NodeStrategy(args) as node:
             mocap_systems = get_mocap_systems(node)
-            
+
             for mocap_system in mocap_systems:
                 lc_status, ok = get_lc_status(node, mocap_system)
 
                 if ok:
                     status = 'UNKNOWN'
-                    if lc_status.id == LCState.PRIMARY_STATE_UNKNOWN or lc_status.id == LCState.PRIMARY_STATE_FINALIZED:
+                    if (lc_status.id == LCState.PRIMARY_STATE_UNKNOWN or
+                            lc_status.id == LCState.PRIMARY_STATE_FINALIZED):
                         status = 'NOT READY'
                     elif lc_status.id == LCState.PRIMARY_STATE_UNCONFIGURED:
                         status = 'NOT YET AVAILABLE'

mocap4r2cli/mocap4r2cli/verb/stop.py

@@ -12,20 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import rclpy
-from rclpy.time import Time
-
-
-from rclpy.lifecycle import State
 from lifecycle_msgs.msg import State as LCState
 
-from mocap4r2_control_msgs.msg import MocapInfo
+from mocap4r2cli.api import MocapNameCompleter
+from mocap4r2cli.verb import get_lc_status, get_mocap_systems, send_stop_control, VerbExtension
 
 from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
-from mocap4r2cli.verb import VerbExtension, get_lc_status, get_mocap_systems, send_stop_control 
 
-from mocap4r2cli.api import MocapNameCompleter
 
 class StopVerb(VerbExtension):
     """Stop a MOCAP4ROS2 system."""
@@ -34,13 +28,13 @@ def add_arguments(self, parser, cli_name):
         add_arguments(parser)
         arg = parser.add_argument(
             'mocap_system',
-            help="Name of the MOCAP4ROS2 system to stop")
+            help='Name of the MOCAP4ROS2 system to stop')
         arg.completer = MocapNameCompleter()
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
             mocap_systems = get_mocap_systems(node)
-            
+
             if args.mocap_system in mocap_systems:
                 lc_status, ok = get_lc_status(node, args.mocap_system)
                 if ok:
@@ -58,6 +52,7 @@ def main(self, *, args):
                             node.get_logger().info(args.mocap_system + ' stopped')
                 else:
                     node.get_logger().error('Error getting status of ' + args.mocap_system)
-                   
+
             else:
-                node.get_logger().error('Mocap System ' + args.mocap_system +  ' not in detected MOCAP4ROS2 Control System')
+                node.get_logger().error('Mocap System ' + args.mocap_system +
+                                        ' not in detected MOCAP4ROS2 Control System')

mocap4r2cli/setup.py

@@ -1,10 +1,6 @@
 from setuptools import find_packages
 from setuptools import setup
 
-
-from setuptools import find_packages
-from setuptools import setup
-
 package_name = 'mocap4r2cli'
 
 setup(