Merge pull request #3893 from JdeRobot/pass-formatter

Pass formatter

Author: javizqh

exercises/drone_cat_mouse/python_template/HAL.py

@@ -74,26 +74,31 @@ def __auto_spin() -> None:
 
 _mouse_position = [20.0, 5.0, 0.0]
 
+
 def _mouse_pose_callback(msg):
     _mouse_position[0] = msg.pose.position.x
     _mouse_position[1] = msg.pose.position.y
     _mouse_position[2] = msg.pose.position.z
 
+
 _mouse_pose_node = rclpy.create_node("cat_mouse_pose_tracker")
 # this topic is published as BEST_EFFORT. if you subscribe with the default
 # settings (which are RELIABLE) the two don't match and you receive nothing,
 # so get_mouse_position would just keep returning the default below. using
 # the sensor-data profile makes both sides BEST_EFFORT, so the messages flow.
 _mouse_pose_sub = _mouse_pose_node.create_subscription(
-    PoseStamped, '/drone1/self_localization/pose', _mouse_pose_callback,
-    qos_profile_sensor_data
+    PoseStamped,
+    "/drone1/self_localization/pose",
+    _mouse_pose_callback,
+    qos_profile_sensor_data,
 )
 
 executor.add_node(_mouse_pose_node)
 
 
 ### helpers ###
 
+
 def _call_state_event(event_value):
     """send a state machine event without using asyncio.
     the normal DroneWrapper does this through asyncio.run(), which doesn't work

exercises/drone_cat_mouse/python_template/WebGUI.py

@@ -97,8 +97,12 @@ def update_gui(self):
             b64_right = None
             shape_right = 0
 
-        self.msg["image_left"] = json.dumps({"image_left": b64_left, "shape_left": shape_left})
-        self.msg["image_right"] = json.dumps({"image_right": b64_right, "shape_right": shape_right})
+        self.msg["image_left"] = json.dumps(
+            {"image_left": b64_left, "shape_left": shape_left}
+        )
+        self.msg["image_right"] = json.dumps(
+            {"image_right": b64_right, "shape_right": shape_right}
+        )
         self.send_to_client(json.dumps(self.msg))
 
     def setLeftImage(self, image):

exercises/drone_cat_mouse/python_template/academy.py

@@ -3,8 +3,8 @@
 import math
 
 TAKEOFF_HEIGHT = 3.0
-CHASE_SPEED = 2.0      # keep this above the mouse's 1.5 or the cat never catches up
-SLOW_RADIUS = 3.0      # once we're this close, ease off so we don't overshoot
+CHASE_SPEED = 2.0  # keep this above the mouse's 1.5 or the cat never catches up
+SLOW_RADIUS = 3.0  # once we're this close, ease off so we don't overshoot
 
 # get off the ground first
 HAL.takeoff(TAKEOFF_HEIGHT)
@@ -16,7 +16,7 @@
 
     dx = mouse[0] - cat[0]
     dy = mouse[1] - cat[1]
-    dz = TAKEOFF_HEIGHT - cat[2]   # hold our height
+    dz = TAKEOFF_HEIGHT - cat[2]  # hold our height
 
     dist = math.sqrt(dx * dx + dy * dy)
 

exercises/drone_cat_mouse/python_template/processB/HAL.py

@@ -58,6 +58,7 @@ def __auto_spin() -> None:
 
 ### helpers ###
 
+
 def _call_state_event(event_value):
     """send a state machine event without using asyncio.
     the normal DroneWrapper does this through asyncio.run(), which doesn't work

exercises/drone_cat_mouse/python_template/processB/academy.py

@@ -10,23 +10,23 @@
 ESCAPE_SPEED = 1.5
 # square around the mouse's spawn (x=20, y=5), 10m a side
 WAYPOINTS = [
-    (25.0,  5.0, TAKEOFF_HEIGHT),
+    (25.0, 5.0, TAKEOFF_HEIGHT),
     (25.0, 10.0, TAKEOFF_HEIGHT),
     (20.0, 10.0, TAKEOFF_HEIGHT),
     (15.0, 10.0, TAKEOFF_HEIGHT),
-    (15.0,  5.0, TAKEOFF_HEIGHT),
-    (15.0,  0.0, TAKEOFF_HEIGHT),
-    (20.0,  0.0, TAKEOFF_HEIGHT),
-    (25.0,  0.0, TAKEOFF_HEIGHT),
+    (15.0, 5.0, TAKEOFF_HEIGHT),
+    (15.0, 0.0, TAKEOFF_HEIGHT),
+    (20.0, 0.0, TAKEOFF_HEIGHT),
+    (25.0, 0.0, TAKEOFF_HEIGHT),
 ]
-REACH_THRESHOLD = 1.2   # how close counts as "reached this corner"
+REACH_THRESHOLD = 1.2  # how close counts as "reached this corner"
 
 
 def distance(pos, target):
     return math.sqrt(
-        (pos[0] - target[0]) ** 2 +
-        (pos[1] - target[1]) ** 2 +
-        (pos[2] - target[2]) ** 2
+        (pos[0] - target[0]) ** 2
+        + (pos[1] - target[1]) ** 2
+        + (pos[2] - target[2]) ** 2
     )