minor clean up from flake8/pycodestyle

flexbe_core/flexbe_core/core/concurrency_container.py

@@ -106,7 +106,7 @@ def _execute_current_state(self):
 
             if command_msg.target == self.name:
                 cmd_msg2 = self._sub.get_from_buffer(Topics._CMD_TRANSITION_TOPIC)  # Using here, so clear from buffer
-                assert cmd_msg2 is command_msg, "Unexpected change in CMD_TRANSITION_TOPIC buffer"
+                assert cmd_msg2 is command_msg, 'Unexpected change in CMD_TRANSITION_TOPIC buffer'
                 Logger.localinfo(f"-concurrency container '{self.name}' is handling the transition cmd msg={command_msg}")
 
                 self._force_transition = True
@@ -140,9 +140,9 @@ def _execute_current_state(self):
                     # @TODO - Should we be using path not name here?
                     command_msg = self._manual_transition_requested
                     cmd_msg2 = self._sub.get_from_buffer(Topics._CMD_TRANSITION_TOPIC)  # Using here, so clear from buffer
-                    assert cmd_msg2 is command_msg, "Something is up with handling of buffer for CMD_TRANSITION_TOPIC"
+                    assert cmd_msg2 is command_msg, 'Something is up with handling of buffer for CMD_TRANSITION_TOPIC'
                     Logger.localinfo(f"-concurrency container '{self.name}' state '{state.name}' is handling "
-                                     f"the cmd msg={command_msg}")
+                                     f"the cmd msg='{command_msg}'")
                     self._manual_transition_requested = None  # Reset at this level
 
                     if 0 <= command_msg.outcome < len(state.outcomes):

flexbe_core/flexbe_core/core/manually_transitionable_state.py

@@ -60,7 +60,7 @@ def _manually_transitionable_execute(self, *args, **kwargs):
             command_msg = self._sub.peek_at_buffer(Topics._CMD_TRANSITION_TOPIC)
             if command_msg.target == self.name:
                 cmd_msg2 = self._sub.get_from_buffer(Topics._CMD_TRANSITION_TOPIC)
-                assert cmd_msg2 is command_msg, "Unexpected change in CMD_TRANSITION_TOPIC buffer"
+                assert cmd_msg2 is command_msg, 'Unexpected change in CMD_TRANSITION_TOPIC buffer'
                 self._pub.publish(Topics._CMD_FEEDBACK_TOPIC,
                                   CommandFeedback(command='transition', args=[command_msg.target, self.name]))
 

flexbe_core/flexbe_core/core/operatable_state_machine.py

@@ -112,7 +112,7 @@ def define_structure(self):
         """Calculate all state ids and prepare the ContainerStructure message."""
         self._state_map = StateMap()
         self._structure = self._build_structure_msg()
-        print(f"\x1b[94mBuilt {self._state_map}\x1b[0m", flush=True)
+        print(f'\x1b[94mBuilt {self._state_map}\x1b[0m', flush=True)
 
     def _build_structure_msg(self):
         """Create a message to describe the structure of this state machine."""

flexbe_core/flexbe_core/core/preemptable_state_machine.py

@@ -36,6 +36,7 @@
 from flexbe_core.core.preemptable_state import PreemptableState
 from flexbe_core.core.topics import Topics
 from flexbe_core.logger import Logger
+
 from flexbe_msgs.msg import CommandFeedback
 
 import rclpy

flexbe_mirror/flexbe_mirror/flexbe_mirror.py

@@ -29,6 +29,9 @@
 
 """Class to handle the FlexBE mirror of onboard statemachine."""
 
+import threading
+import time
+import traceback
 from collections import deque
 
 try:
@@ -39,10 +42,6 @@ def set_thread_name(name):
         # print('Python thread names are not visible in ps/top unless you install prctl')
         pass
 
-import threading
-import time
-import traceback
-
 from flexbe_core import Logger, MIN_UI_VERSION
 from flexbe_core.core import LockableStateMachine, OperatableStateMachine
 from flexbe_core.core import PreemptableState, PreemptableStateMachine, StateMap
@@ -62,16 +61,16 @@ def set_thread_name(name):
 from .mirror_state_machine import MirrorStateMachine
 
 bestatus_map = {
-    BEStatus.STARTED: "STARTED",
-    BEStatus.FINISHED: "FINISHED",
-    BEStatus.FAILED: "FAILED",
-    BEStatus.LOCKED: "LOCKED",
-    BEStatus.WAITING: "WAITING",
-    BEStatus.SWITCHING: "SWITCHING",
-    BEStatus.WARNING: "WARNING",
-    BEStatus.ERROR: "ERROR",
-    BEStatus.READY: "READY",
-    BEStatus.RUNNING: "RUNNING",
+    BEStatus.STARTED: 'STARTED',
+    BEStatus.FINISHED: 'FINISHED',
+    BEStatus.FAILED: 'FAILED',
+    BEStatus.LOCKED: 'LOCKED',
+    BEStatus.WAITING: 'WAITING',
+    BEStatus.SWITCHING: 'SWITCHING',
+    BEStatus.WARNING: 'WARNING',
+    BEStatus.ERROR: 'ERROR',
+    BEStatus.READY: 'READY',
+    BEStatus.RUNNING: 'RUNNING',
 }
 
 
@@ -801,7 +800,7 @@ def _mirror_state_machine(self, msg):
                                 assert path_seg in state.path, (f'Mismatched state id={state.state_id} for {state.path} vs. '
                                                                 f'({con_msg.state_id}) {con_msg.path}')
                         else:
-                            raise KeyError(f"State id {con_msg.state_id} not found in {self._state_map}!")
+                            raise KeyError(f'State id {con_msg.state_id} not found in {self._state_map}!')
                 end = time.time()
                 Logger.localinfo(f"Validated constructed mirror for behavior id ='{self._sm.id}' in {end - start} seconds !")
                 return  # success here

flexbe_onboard/flexbe_onboard/flexbe_onboard.py

@@ -155,8 +155,8 @@ def _parse_version(v):
     def _behavior_callback(self, beh_sel_msg):
         if self._starting:
             # Prevent multiple request messages from triggering too soon
-            Logger.logwarn(f"Received behavior start request for {beh_sel_msg.behavior_key} "
-                           f"({beh_sel_msg.behavior_id}) while prior request was starting.\n    Ignore second request!")
+            Logger.logwarn(f'Received behavior start request for {beh_sel_msg.behavior_key} '
+                           f'({beh_sel_msg.behavior_id}) while prior request was starting.\n    Ignore second request!')
             return
         self._starting = True  # Prevent two start requests from ocurring back to back
         self._trigger_ready = False  # We have received the behavior selection request
@@ -357,7 +357,7 @@ def _behavior_execution(self, beh_sel_msg):
                 self._status_pub.publish(BEStatus(stamp=self.get_clock().now().to_msg(), code=BEStatus.READY))
                 Logger.localinfo('\033[92m--- Behavior Engine finished - ready for more! ---\033[0m')
 
-            Logger.localinfo(f"Behavior execution finished for id={self.be.beh_id}, exit thread!")
+            Logger.localinfo(f'Behavior execution finished for id={self.be.beh_id}, exit thread!')
             self._running = False
             self._switching = False
             self.be = None