Sourcery Starbot ⭐ refactored DavidePatria/tello_driver - #1
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Apr 13, 2022
| else: | ||
| self.timeout = None | ||
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| self.timeout = 1.0 / rate if rate != 0.0 else None |
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Function PublishThread.__init__ refactored with the following changes:
- Replace if statement with if expression (
assign-if-exp)
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| print("Waiting for subscriber to connect to {}".format(self.publisher.name)) | ||
| print(f"Waiting for subscriber to connect to {self.publisher.name}") | ||
| rospy.sleep(0.5) | ||
| i += 1 | ||
| i = i % 5 | ||
| i %= 5 |
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Function PublishThread.wait_for_subscribers refactored with the following changes:
- Replace call to format with f-string. (
use-fstring-for-formatting) - Replace assignment with augmented assignment (
aug-assign)
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| if rlist: | ||
| key = sys.stdin.read(1) | ||
| else: | ||
| key = '' | ||
| key = sys.stdin.read(1) if rlist else '' |
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Function getKey refactored with the following changes:
- Replace if statement with if expression (
assign-if-exp)
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| rospy.loginfo('%s command executed' % cmd) | ||
| rospy.loginfo(f'{cmd} command executed') | ||
| else: | ||
| rospy.logwarn('%s command failed' % cmd) | ||
| rospy.logwarn(f'{cmd} command failed') |
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Function notify_cmd_success refactored with the following changes:
- Replace interpolated string formatting with f-string (
replace-interpolation-with-fstring)
| break | ||
| except BaseException as err: | ||
| rospy.logerr('fgrab: pyav stream failed - %s' % str(err)) | ||
| rospy.logerr(f'fgrab: pyav stream failed - {str(err)}') |
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Function TelloNode.framegrabber_loop refactored with the following changes:
- Replace interpolated string formatting with f-string (
replace-interpolation-with-fstring)
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| # Test raw video | ||
| if True: | ||
| drone1.start_video() | ||
| while True: | ||
| time.sleep(1.0) | ||
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| # Test video decoding | ||
| if False: | ||
| import av | ||
| import cv2 | ||
| import numpy | ||
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| container = av.open(drone1.get_video_stream()) | ||
| for frame in container.decode(video=0): | ||
| image = cv2.cvtColor(numpy.array( | ||
| frame.to_image()), cv2.COLOR_RGB2BGR) | ||
| cv2.imshow('Frame', image) | ||
| key = cv2.waitKey(1) | ||
| if key and chr(key) in ('q', 'Q', 'x', 'X'): | ||
| break | ||
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| # Test flying | ||
| if False: | ||
| time.sleep(2.0) | ||
| drone1.takeoff() | ||
| time.sleep(3.5) | ||
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| drone1.set_vspeed(1.0) | ||
| time.sleep(0.6) | ||
| drone1.set_vspeed(0.0) | ||
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| time.sleep(2.0) | ||
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| drone1.set_pitch(0.4) | ||
| drone1.set_yaw(1.0) | ||
| time.sleep(0.5) | ||
| drone1.set_pitch(0.0) | ||
| drone1.set_yaw(0.0) | ||
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| time.sleep(2.0) | ||
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| drone1.flip(1) | ||
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| time.sleep(2.0) | ||
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| drone1.set_vspeed(-0.5) | ||
| time.sleep(0.6) | ||
| drone1.set_vspeed(0.0) | ||
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| drone1.start_video() | ||
| while True: | ||
| time.sleep(1.0) | ||
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| drone1.palm_land() | ||
| time.sleep(3.0) | ||
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| except BaseException: | ||
| traceback.print_exc() | ||
| finally: | ||
| if False: | ||
| drone1.reset_cmd_vel() | ||
| drone1.land() |
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Function test refactored with the following changes:
- Remove redundant conditional (
remove-redundant-if)
This removes the following comments ( why? ):
# Test raw video
# Test video decoding
# Test flying
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| while 0 < len(self.queue) and len(data) + len(self.queue[0]) < size: | ||
| data = data + self.queue[0] | ||
| while len(self.queue) > 0 and len(data) + len(self.queue[0]) < size: | ||
| data += self.queue[0] |
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Function StandaloneVideoStream.read refactored with the following changes:
- Ensure constant in comparison is on the right (
flip-comparison) - Replace assignment with augmented assignment (
aug-assign)
| data = self.udp.recv(2048) | ||
| if not data: | ||
| print('! Got empty from recv: %s' % str(data)) | ||
| print(f'! Got empty from recv: {str(data)}') |
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Function TelloDriver._listener_loop refactored with the following changes:
- Replace interpolated string formatting with f-string (
replace-interpolation-with-fstring)
| continue | ||
| elif line.find('phy#') == 0: | ||
| phyid = 'phy'+line.strip()[4:] | ||
| phyid = f'phy{line.strip()[4:]}' |
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Lines 19-19 refactored with the following changes:
- Use f-string instead of string concatenation (
use-fstring-for-concatenation)
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| cmds.append(['docker', 'run', | ||
| '-d', '--rm', '--privileged', | ||
| '--env', 'DRONE_AP='+drone_ap, | ||
| '--env', 'WIFI_DEV='+wifi_dev, | ||
| '--env', 'LOCAL_CMD_CLIENT_PORT='+local_cmd_client_port, | ||
| '--env', 'LOCAL_VID_SERVER_PORT='+local_vid_server_port, | ||
| '--name', container_name, | ||
| image_name]) | ||
| cmds.append(['./setup_network.sh', container_name, wifi_dev]) | ||
| cmds.extend( | ||
| ( | ||
| [ | ||
| 'docker', | ||
| 'run', | ||
| '-d', | ||
| '--rm', | ||
| '--privileged', | ||
| '--env', | ||
| f'DRONE_AP={drone_ap}', | ||
| '--env', | ||
| f'WIFI_DEV={wifi_dev}', | ||
| '--env', | ||
| 'LOCAL_CMD_CLIENT_PORT=' + local_cmd_client_port, | ||
| '--env', | ||
| 'LOCAL_VID_SERVER_PORT=' + local_vid_server_port, | ||
| '--name', | ||
| container_name, | ||
| image_name, | ||
| ], | ||
| ['./setup_network.sh', container_name, wifi_dev], | ||
| ) | ||
| ) |
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Function dispatcher refactored with the following changes:
- Merge consecutive list appends into a single extend (
merge-list-appends-into-extend) - Use f-string instead of string concatenation (
use-fstring-for-concatenation) - Replace interpolated string formatting with f-string (
replace-interpolation-with-fstring)
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