Client: Remove waste spaces

Drone/client.py

@@ -13,7 +13,7 @@ from contextlib import closing
 import inspect  # Add parent dir to PATH to import messaging_lib
 current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parent_dir = os.path.dirname(current_dir)
-sys.path.insert(0, parent_dir) 
+sys.path.insert(0, parent_dir)
 
 logger = logging.getLogger(__name__)
 

Drone/client_setup.sh

@@ -2,7 +2,7 @@
 
 # $1 - ssid, $2 - password of wifi router
 # $3 - hostname of rpi
-# $4 - server ip 
+# $4 - server ip
 
 if [ $(whoami) != "root" ]; then
   echo -e "\nThis should be run as root!\n"
@@ -38,7 +38,7 @@ country=GB
 network={
     ssid="$1"
     psk="$2"
-    scan_ssid=1    
+    scan_ssid=1
 }
 EOF
 

Drone/copter_client.py

@@ -303,7 +303,7 @@ def _response_animation_id(*args, **kwargs):
     if result != 'No animation':
         logger.debug("Saving corrected animation")
         offset = numpy.array(client.active_client.config.private_offset) + numpy.array(client.active_client.config.copter_common_offset)
-        frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay, 
+        frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay,
                                             offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
         # Correct start and land frames in animation
         corrected_frames, start_action, start_delay = animation.correct_animation(frames,
@@ -390,10 +390,10 @@ def _command_move_start_to_current_position(*args, **kwargs):
         telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
         logger.debug("x_telem = {}, y_telem = {}".format(telem.x, telem.y))
         if not math.isnan(telem.x):
-            client.active_client.config.set('PRIVATE', 'offset', 
+            client.active_client.config.set('PRIVATE', 'offset',
                                             [telem.x - x_start, telem.y - y_start, client.active_client.config.private_offset[2]],
                                             write=True)
-            logger.info("Set start delta: {:.2f} {:.2f}".format(client.active_client.config.private_offset[0], 
+            logger.info("Set start delta: {:.2f} {:.2f}".format(client.active_client.config.private_offset[0],
                                                                 client.active_client.config.private_offset[1]))
         else:
             logger.debug("Wrong telemetry")
@@ -403,17 +403,17 @@ def _command_move_start_to_current_position(*args, **kwargs):
 
 @messaging.message_callback("reset_start")
 def _command_reset_start(*args, **kwargs):
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [0, 0, client.active_client.config.private_offset[2]],
                                     write=True)
-    logger.info("Reset start to {:.2f} {:.2f}".format(client.active_client.config.private_offset[0], 
+    logger.info("Reset start to {:.2f} {:.2f}".format(client.active_client.config.private_offset[0],
                                                     client.active_client.config.private_offset[1]))
 
 
 @messaging.message_callback("set_z_to_ground")
 def _command_set_z(*args, **kwargs):
     telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [client.active_client.config.private_offset[0], client.active_client.config.private_offset[1], telem.z],
                                     write=True)
     logger.info("Set z offset to {:.2f}".format(client.active_client.config.private_offset[2]))
@@ -421,7 +421,7 @@ def _command_set_z(*args, **kwargs):
 
 @messaging.message_callback("reset_z_offset")
 def _command_reset_z(*args, **kwargs):
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [client.active_client.config.private_offset[0], client.active_client.config.private_offset[1], 0],
                                     write=True)
     logger.info("Reset z offset to {:.2f}".format(client.active_client.config.private_offset[2]))

Drone/mavros_mavlink.py

@@ -63,7 +63,7 @@ def calibrate(sensor):
             return False
         # Make calibration message
         calibration_message = calibration_msg(sensor)
-        # Send mavlink calibration command 
+        # Send mavlink calibration command
         send_command_long(False, mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, *calibration_message)
         rospy.loginfo('Send {} calibration message'.format(sensor))
         # Wait until system status to uninit (during calibration on px4)
@@ -87,7 +87,7 @@ def get_calibration_status():
     if mag_status.value.integer == 0 and mag_status.success:
         status_text += "mag: uncalibrated; "
     if acc_status.value.integer == 0 and acc_status.success:
-        status_text += "acc: uncalibrated; "    
+        status_text += "acc: uncalibrated; "
     if status_text == "":
         if not gyro_status.success or not mag_status.success or not acc_status.success:
             status_text = "NO_INFO"

Drone/tasking_lib.py

@@ -54,7 +54,7 @@ class TaskManager(object):
         self._wait_interrupt_event.set()
         self._running_event.clear()
 
-        task = Task(task_function, task_args, task_kwargs, task_delayable)                
+        task = Task(task_function, task_args, task_kwargs, task_delayable)
 
         count = next(self._counter)
         entry = (timestamp, priority, count, task)
@@ -64,21 +64,21 @@ class TaskManager(object):
                 entry_old = self.task_queue[0]
             else:
                 entry_old = entry
-        
+
             heapq.heappush(self.task_queue, entry)
 
             if self.task_queue[0] != entry_old:
                 self._task_interrupt_event.set()
                 #print("Task queue updated with more priority task")
-            
+
             if self._reset_event.is_set():
                 self._task_interrupt_event.set()
                 self._reset_event.clear()
                 #print("Task queue updated after reset")
-       
+
         self._wait_interrupt_event.clear()
         self._running_event.set()
-        
+
         # #print(self.task_queue)
 
     def pop_task(self):
@@ -89,7 +89,7 @@ class TaskManager(object):
 
     def get_last_task_name(self):
         return self._last_task
-    
+
     def get_current_task(self):
         try:
             start_time, priority, count, task = self.task_queue[0]
@@ -134,7 +134,7 @@ class TaskManager(object):
         if self.task_queue:
             next_task_time = self.task_queue[0][0]
             if time_to_start_next_task > next_task_time:
-                self._timeshift = time_to_start_next_task - next_task_time 
+                self._timeshift = time_to_start_next_task - next_task_time
         self._wait_interrupt_event.clear()
         self._task_interrupt_event.clear()
         self._running_event.set()
@@ -178,7 +178,7 @@ class TaskManager(object):
             #print("Interrupter is set: {}".format(self._task_interrupt_event.is_set()))
             try:
                 task.func(*task.args, interrupter=self._task_interrupt_event, **task.kwargs)
-            
+
             except Exception as e:
                 logger.error("Error '{}' occurred in task {}".format(e, task))
                 #print("Error '{}' occurred in task {}".format(e, task))
@@ -211,10 +211,10 @@ class TaskManager(object):
                 #try:
                     #print("Pop {} function!".format(task.func.__name__))
                 #except Exception as e:
-                    #print("Pop something!") 
+                    #print("Pop something!")
 
         if self._task_interrupt_event.is_set():
-            self._task_interrupt_event.clear()     
+            self._task_interrupt_event.clear()
 
         logger.info("Execution done")
         #print("Execution done")

Drone/visual_pose_watchdog.py

@@ -144,7 +144,7 @@ def laser_callback(data):
     laser_range = data.range
 
 def emergency_land(disarm_if_timeout = True):
-    global emergency_land_thrust, laser_range 
+    global emergency_land_thrust, laser_range
     current_thrust = emergency_land_thrust
     action_timestamp = time.time()
     while armed:
@@ -153,13 +153,13 @@ def emergency_land(disarm_if_timeout = True):
             try:
                 set_attitude(thrust = current_thrust, yaw = 0, frame_id = 'body', auto_arm = True)
             except rospy.ServiceException as e:
-                logger.info(e) 
+                logger.info(e)
         delta = time.time() - action_timestamp
         if delta > timeout_to_disarm and disarm_if_timeout:
             try:
                 arming(False)
             except rospy.ServiceException as e:
-                logger.info(e)  
+                logger.info(e)
         if (laser_range < 0.1 or delta > emergency_land_decrease_thrust_after) and current_thrust >= 0.:
             current_thrust -= 0.02
             if current_thrust <= 0.03:
@@ -167,7 +167,7 @@ def emergency_land(disarm_if_timeout = True):
                 try:
                     arming(False)
                 except rospy.ServiceException as e:
-                    logger.info(e) 
+                    logger.info(e)
         rate.sleep()
 
 def emergency_land_service(request):
@@ -181,7 +181,7 @@ def emergency_land_service(request):
         responce.success = False
         responce.message = "Copter is disarmed, no need for emergency landing!"
         emergency_land_called = False
-    return responce  
+    return responce
 
 def watchdog_callback(event):
     global visual_pose_last_timestamp, armed, mode, watchdog_action, laser_range
@@ -224,7 +224,7 @@ def watchdog_callback(event):
                                 try:
                                     arming(False)
                                 except rospy.ServiceException as e:
-                                    logger.info(e)   
+                                    logger.info(e)
                             rate.sleep()
                     elif watchdog_action == 'disarm':
                         logger.info('Visual pose data is too old, copter is armed, disarming...')
@@ -232,15 +232,15 @@ def watchdog_callback(event):
                             try:
                                 arming(False)
                             except rospy.ServiceException as e:
-                                logger.info(e)   
-                            rate.sleep() 
+                                logger.info(e)
+                            rate.sleep()
                     elif watchdog_action == 'emergency_land':
                         if visual_pose_dt > visual_pose_timeout:
                             logger.info('Visual pose data is too old, copter is armed, emergency landing...')
                         if pos_delta > pos_delta_max:
                             logger.info('Position delta is {} m, copter is armed, emergency landing...'.format(pos_delta))
                         emergency_land()
-                    logger.info('Disarmed') 
+                    logger.info('Disarmed')
                     emergency = False
             if emergency_land_called:
                 emergency = True