formatting

IMRCLab · Mar 14, 2024 · a077a2b · a077a2b
1 parent af2e9bb
commit a077a2b
Showing 1 changed file with 23 additions and 15 deletions.
diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py
@@ -14,7 +14,7 @@
 # from .visualizer import visNull
 
 
-from crazyflie_interfaces.msg import FullState, Position, TrajectoryPolynomialPiece, Status
+from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece
 from crazyflie_interfaces.srv import GoTo, Land,\
     NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory
 from geometry_msgs.msg import Point
@@ -136,7 +136,8 @@ def __init__(self, node, cfname, paramTypeDict):
         self.setParamsService = node.create_client(
             SetParameters, '/crazyflie_server/set_parameters')
         self.setParamsService.wait_for_service()
-        self.statusSubscriber = node.create_subscription(Status, f'{self.prefix}/status', self.status_topic_callback, 10)
+        self.statusSubscriber = node.create_subscription(
+            Status, f'{self.prefix}/status', self.status_topic_callback, 10)
         self.status = {}
 
         # Query some settings
@@ -700,23 +701,30 @@ def cmdPosition(self, pos, yaw=0.):
     #     self.setParam('ring/solidRed', int(r * 255))
     #     self.setParam('ring/solidGreen', int(g * 255))
     #     self.setParam('ring/solidBlue', int(b * 255))
-        
+
     def status_topic_callback(self, msg):
-        """Callback method updating the status attribute every time 
-        a crazyflie_interfaces/msg/Status message is published on the topic /cfXXX/status """
+        """
+        Callback method updating the status attribute every time a 
+        crazyflie_interfaces/msg/Status message is published on the topic /cfXXX/status
         
-        self.status = {'id' : msg.header.frame_id, 'timestamp_sec': msg.header.stamp.sec, 
-                  'timestamp_nsec' : msg.header.stamp.nanosec, 'supervisor' : msg.supervisor_info,
-                  'battery' : msg.battery_voltage, 'pm_state' : msg.pm_state, 'rssi' : msg.rssi, 
-                  'num_rx_broadcast':msg.num_rx_broadcast, 'num_tx_broadcast' : msg.num_tx_broadcast,
-                  'num_rx_unicast':msg.num_rx_unicast, 'num_tx_unicast' : msg.num_tx_unicast}
+        """
+        self.status = {'id': msg.header.frame_id, 
+                       'timestamp_sec': msg.header.stamp.sec, 
+                       'timestamp_nsec': msg.header.stamp.nanosec, 
+                       'supervisor': msg.supervisor_info,
+                       'battery': msg.battery_voltage, 
+                       'pm_state' : msg.pm_state, 
+                       'rssi': msg.rssi, 
+                       'num_rx_broadcast':msg.num_rx_broadcast, 
+                       'num_tx_broadcast': msg.num_tx_broadcast,
+                       'num_rx_unicast':msg.num_rx_unicast, 
+                       'num_tx_unicast': msg.num_tx_unicast}
 
-
     def get_status(self):
-        """Returns the status dictionary containing info about:   
-        frame id, timestamp, supervisor info, battery voltage, pm state, rssi, number of received or
-        transmitted broadcast or unicast messages. see crazyflie_interfaces/msg/Status for details"""
-
+        """Returns the status dictionary containing info about:
+        frame id, timestamp, supervisor info, battery voltage, pm state, rssi, nb of received or
+        transmitted broadcast or unicast messages. see crazyflie_interfaces/msg/Status for details
+        """
         # self.node.get_logger().info(f'Crazyflie.get_status() was called {self.status}')
         return self.status