Pep8 (#93)

* blank lines

* trailing semicolon

* whitespaces

* backslash

* us is to compare None and True/False

* more indent

* import method explicitely rather than import *

* trivial comment fixes

* remove swp files

* remove unused variables

* keep import * in cfg file because that's what's used in every package (also avoid to import each type indivually)

* go back to use type for checking

Author: mikaelarguedas

cmake/dynamic_reconfigure/parameter_generator.py

@@ -36,6 +36,7 @@
 int_t = "int"
 double_t = "double"
 
+
 class ParameterGenerator():
     @staticmethod
     def dummy(*params, **nparams):

src/dynamic_reconfigure/__init__.py

@@ -38,25 +38,32 @@
 import roslib
 import os
 
+
 class DynamicReconfigureException(Exception):
     """
     dynamic_reconfigure base exception type
     """
     pass
+
+
 class DynamicReconfigureParameterException(DynamicReconfigureException):
     """
     Exception for parameter errors.
     """
     pass
+
+
 class DynamicReconfigureCallbackException(DynamicReconfigureException):
     """
     Exception for callback errors.
     """
     pass
 
+
 def find_reconfigure_services():
     import rosservice
     return sorted([s[:-len('/set_parameters')] for s in rosservice.get_service_list() if s.endswith('/set_parameters')])
 
+
 def get_parameter_names(descr):
     return descr.defaults.keys()

src/dynamic_reconfigure/client.py

@@ -42,20 +42,19 @@
 except:
     pass
 import rospy
-import rosservice
 import sys
 import threading
 import time
-import types
+
 from dynamic_reconfigure import DynamicReconfigureCallbackException
 from dynamic_reconfigure import DynamicReconfigureParameterException
-from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv
+from dynamic_reconfigure.encoding import decode_config, decode_description, encode_config, extract_params
 from dynamic_reconfigure.msg import Config as ConfigMsg
 from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg
-from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription
-from dynamic_reconfigure.encoding import *
+from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv
 from rospy.service import ServiceException
 
+
 class Client(object):
     """
     Python dynamic_reconfigure client API
@@ -71,21 +70,21 @@ def __init__(self, name, timeout=None, config_callback=None, description_callbac
         @param config_callback: callback for server parameter changes
         @param description_callback: internal use only as the API has not stabilized
         """
-        self.name              = name
-        self.config            = None
+        self.name = name
+        self.config = None
         self.param_description = None
         self.group_description = None
 
         self._param_types = None
 
         self._cv = threading.Condition()
 
-        self._config_callback      = config_callback
+        self._config_callback = config_callback
         self._description_callback = description_callback
 
-        self._set_service      = self._get_service_proxy('set_parameters', timeout)
+        self._set_service = self._get_service_proxy('set_parameters', timeout)
         self._descriptions_sub = self._get_subscriber('parameter_descriptions', ConfigDescrMsg, self._descriptions_msg)
-        self._updates_sub      = self._get_subscriber('parameter_updates',      ConfigMsg,      self._updates_msg)
+        self._updates_sub = self._get_subscriber('parameter_updates', ConfigMsg, self._updates_msg)
 
     def get_configuration(self, timeout=None):
         """
@@ -220,13 +219,13 @@ def update_configuration(self, changes):
         config = encode_config(changes)
 
         try:
-            msg    = self._set_service(config).config
+            msg = self._set_service(config).config
         except ServiceException as e:
             raise DynamicReconfigureCallbackException('service call failed')
 
         if self.group_description is None:
             self.get_group_descriptions()
-        resp   = decode_config(msg, self.group_description)
+        resp = decode_config(msg, self.group_description)
 
         return resp
 
@@ -240,9 +239,8 @@ def update_groups(self, changes):
 
         descr = self.get_group_descriptions()
 
-        groups = []
         def update_state(group, description):
-            for p,g in description['groups'].items():
+            for p, g in description['groups'].items():
                 if g['name'] == group:
                     description['groups'][p]['state'] = changes[group]
                 else:
@@ -345,9 +343,13 @@ def _descriptions_msg(self, msg):
             self._description_callback(self.param_description)
 
     def _param_type_from_string(self, type_str):
-        if   type_str == 'int':    return int
-        elif type_str == 'double': return float
-        elif type_str == 'str':    return str
-        elif type_str == 'bool':   return bool
+        if type_str == 'int':
+            return int
+        elif type_str == 'double':
+            return float
+        elif type_str == 'str':
+            return str
+        elif type_str == 'bool':
+            return bool
         else:
             raise DynamicReconfigureParameterException('parameter has unknown type: %s. This is a bug in dynamic_reconfigure.' % type_str)

src/dynamic_reconfigure/encoding.py

@@ -34,16 +34,15 @@
     import roslib; roslib.load_manifest('dynamic_reconfigure')
 except:
     pass
-import rospy
-import inspect
 import copy
 import sys
 
+from dynamic_reconfigure.msg import BoolParameter, DoubleParameter, IntParameter, ParamDescription, StrParameter
 from dynamic_reconfigure.msg import Config as ConfigMsg
 from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg
 from dynamic_reconfigure.msg import Group as GroupMsg
 from dynamic_reconfigure.msg import GroupState
-from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription
+
 
 class Config(dict):
     def __init__(self, *args, **kwargs):
@@ -90,6 +89,7 @@ def encode_description(descr):
     msg.groups = encode_groups(None, descr.config_description)
     return msg
 
+
 def encode_groups(parent, group):
     group_list = []
 
@@ -109,16 +109,21 @@ def encode_groups(parent, group):
 
     return group_list
 
+
 def encode_config(config, flat=True):
     msg = ConfigMsg()
     for k, v in config.items():
         ## @todo add more checks here?
-        if   type(v) == int:   msg.ints.append(IntParameter(k, v))
-        elif type(v) == bool:  msg.bools.append(BoolParameter(k, v))
-        elif type(v) == str:   msg.strs.append(StrParameter(k, v))
-        elif sys.version_info.major < 3 and type(v) == unicode:
+        if type(v) == int:
+            msg.ints.append(IntParameter(k, v))
+        elif type(v) == bool:
+            msg.bools.append(BoolParameter(k, v))
+        elif type(v) == str:
+            msg.strs.append(StrParameter(k, v))
+        elif sys.version_info.major < 3 and isinstance(v, unicode):
             msg.strs.append(StrParameter(k, v))
-        elif type(v) == float: msg.doubles.append(DoubleParameter(k, v))
+        elif type(v) == float:
+            msg.doubles.append(DoubleParameter(k, v))
         elif type(v) == dict or isinstance(v, Config):
             if flat is True:
                 def flatten(g):
@@ -134,6 +139,7 @@ def flatten(g):
 
     return msg
 
+
 def group_dict(group):
     try:
         state = group.state
@@ -142,17 +148,18 @@ def group_dict(group):
     if hasattr(group, 'type'):
         type = group.type
     else:
-        type =''
+        type = ''
     return Config({
-        'id' : group.id,
-        'parent' : group.parent,
-        'name' : group.name,
-        'type' : type,
+        'id': group.id,
+        'parent': group.parent,
+        'name': group.name,
+        'type': type,
         'state': state,
-        'groups' : Config({}),
-        'parameters' : Config({}),
+        'groups': Config({}),
+        'parameters': Config({}),
     })
 
+
 def decode_description(msg):
     mins = decode_config(msg.min)
     maxes = decode_config(msg.max)
@@ -165,14 +172,14 @@ def params_from_msg(msg):
         for param in msg.parameters:
             name = param.name
             params.append({
-               'name': name,
-               'min' : mins[name],
-               'max' : maxes[name],
-               'default' : defaults[name],
-               'type' : param.type,
-               'level': param.level,
-               'description' : param.description,
-               'edit_method' : param.edit_method,
+                'name': name,
+                'min': mins[name],
+                'max': maxes[name],
+                'default': defaults[name],
+                'type': param.type,
+                'level': param.level,
+                'description': param.description,
+                'edit_method': param.edit_method,
             })
         return params
 
@@ -186,21 +193,22 @@ def build_tree(group):
         children = Config({})
         for g in grouplist:
             if g.id == 0:
-               pass
+                pass
             elif g.parent == group['id']:
-               gd = group_dict(g)
+                gd = group_dict(g)
 
-               gd['parameters'] = params_from_msg(g)
-               gd['groups'] = build_tree(gd)
-               # add the dictionary into the tree
-               children[gd['name']] = gd
+                gd['parameters'] = params_from_msg(g)
+                gd['groups'] = build_tree(gd)
+                # add the dictionary into the tree
+                children[gd['name']] = gd
         return children
 
     groups['groups'] = build_tree(groups)
 
     return groups
 
-def get_tree(m, group = None):
+
+def get_tree(m, group=None):
     if group is None:
         for x in m.groups:
             if x.id == 0:
@@ -209,7 +217,7 @@ def get_tree(m, group = None):
     children = Config({})
     for g in m.groups:
         if g.id == 0:
-          pass
+            pass
         elif g.parent == group.id:
             gd = group_dict(g)
 
@@ -223,9 +231,11 @@ def get_tree(m, group = None):
     else:
         return children
 
-def initial_config(msg, description = None):
+
+def initial_config(msg, description=None):
     d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles])
-    def gt(m, descr, group = None):
+
+    def gt(m, descr, group=None):
         # get the default group
         if group is None:
             for x in m.groups:
@@ -276,7 +286,8 @@ def add_params(group, descr):
 
     return d
 
-def decode_config(msg, description = None):
+
+def decode_config(msg, description=None):
     if sys.version_info.major < 3:
         for s in msg.strs:
             if not isinstance(s.value, unicode):
@@ -302,17 +313,19 @@ def add_params(group, descr):
 
     return d
 
+
 def extract_params(group):
     params = []
     params.extend(group['parameters'])
     try:
-        for n,g in group['groups'].items():
+        for n, g in group['groups'].items():
             params.extend(extract_params(g))
     except AttributeError:
         for g in group['groups']:
             params.extend(extract_params(g))
     return params
 
+
 def get_parents(group, descriptions):
     parents = []
     for p in descriptions['group']: