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Tools: random Python cleanups based on lgtm analysis

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This commit is contained in:
Peter Barker 2019-09-21 16:04:51 +10:00 committed by Peter Barker
parent c6f43e9700
commit 642935fd43
19 changed files with 29 additions and 81 deletions
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1
Tools/LogAnalyzer/DataflashLog.py
View File

@ -6,7 +6,6 @@
from __future__ import print_function
import collections
import os
import numpy
import bisect
import sys

5
Tools/Replay/CheckLogs.py
View File

@ -38,7 +38,7 @@ def run_replay(logfile):
def get_log_list():
'''get a list of log files to process'''
import glob, os, sys
import glob, sys
pattern = os.path.join(opts.logdir, "*-checked.bin")
file_list = glob.glob(pattern)
print("Found %u logs to processs" % len(file_list))
@ -148,7 +148,6 @@ def check_logs():
os.unlink("replay_results.txt")
except Exception as ex:
print(ex)
pass
for logfile in log_list:
run_replay(logfile)
@ -157,7 +156,7 @@ def check_logs():
def create_checked_logs():
'''create a set of CHEK logs'''
import glob, os, sys
import glob, sys
if os.path.isfile(opts.logdir):
full_file_list = [opts.logdir]
else:

4
Tools/autotest/antennatracker.py
View File

@ -2,13 +2,9 @@
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from pysim import util
from pysim import vehicleinfo
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))

15
Tools/autotest/apmrover2.py
View File

@ -4,7 +4,6 @@
from __future__ import print_function
import os
import pexpect
import time
from common import AutoTest
@ -14,8 +13,6 @@ from common import MsgRcvTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from pysim import util
from pymavlink import mavutil
# get location of scripts
@ -961,7 +958,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
success = False
except AutoTestTimeoutException as e:
success = True
pass
self.mav.mav.srcSystem = old_srcSystem
if not success:
raise NotAchievedException(
@ -976,7 +972,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle()
except Exception as e:
comp_arm_exception = e
pass
self.mav.mav.srcSystem = old_srcSystem
if comp_arm_exception is not None:
raise comp_arm_exception
@ -1078,11 +1073,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Testing FENCE_POINT protocol")
self.set_parameter("FENCE_TOTAL", 1)
self.roundtrip_fencepoint_protocol(0, 1, 1.2345, 5.4321, target_system=target_component, target_component=target_component)
self.roundtrip_fencepoint_protocol(0, 1, 1.2345, 5.4321, target_system=target_system, target_component=target_component)
lat = 2.345
lng = 4.321
self.roundtrip_fencepoint_protocol(0, 1, lat, lng, target_system=target_component, target_component=target_component)
self.roundtrip_fencepoint_protocol(0, 1, lat, lng, target_system=target_system, target_component=target_component)
def test_offboard(self, timeout=90):
self.load_mission("rover-guided-mission.txt")
@ -1469,7 +1464,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
m = self.get_mission_item_int_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if m2.x != m.x:
raise NotAchievedException("mission items do not match (%d vs %d)" % (m2.x, m.x))
m_nonint = self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
# ensure we get nacks for bad mission item requests:
self.mav.mav.mission_request_send(target_system,
target_component,
@ -1563,7 +1558,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 0)
self.progress("Answering request for mission item 0")
wp = self.mav.mav.mission_item_int_send(
self.mav.mav.mission_item_int_send(
target_system,
target_component,
0, # seq
@ -1599,7 +1594,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Answering request for waypoints item 1")
wp = self.mav.mav.mission_item_int_send(
self.mav.mav.mission_item_int_send(
target_system,
target_component,
1, # seq

12
Tools/autotest/arducopter.py
View File

@ -7,9 +7,7 @@ import math
import os
import shutil
import time
import traceback
import pexpect
from pymavlink import mavutil
from pymavlink import mavextra
@ -1833,7 +1831,6 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
self.progress("Waiting for location")
old_pos = self.mav.location()
self.zero_throttle()
self.takeoff(10, 1800)
self.change_mode("LAND")
@ -3384,8 +3381,6 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="LOITER")
self.set_parameter("SIM_SPEEDUP", 1)
self.change_mode("FOLLOW")
ex = None
tstart = self.get_sim_time_cached()
new_loc = self.mav.location()
new_loc_offset_n = 20
new_loc_offset_e = 30
@ -3405,13 +3400,12 @@ class AutoTestCopter(AutoTest):
while True:
now = self.get_sim_time_cached()
if now - last_sent > 0.5:
last_run = now
gpi = self.global_position_int_for_location(new_loc,
now,
heading=heading)
gpi.pack(self.mav.mav)
self.mav.mav.send(gpi)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
pos = self.mav.location()
delta = self.get_distance(expected_loc, pos)
max_delta = 2
@ -3931,13 +3925,13 @@ class AutoTestHeli(AutoTestCopter):
self.set_rc(8, 1000)
def set_rc_default(self):
super(AutoTestCopter, self).set_rc_default()
super(AutoTestHeli, self).set_rc_default()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
ret = AutoTest.tests(self)
ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test),

11
Tools/autotest/arduplane.py
View File

@ -5,19 +5,14 @@ from __future__ import print_function
import math
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from MAVProxy.modules.lib import mp_util
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
@ -693,7 +688,6 @@ class AutoTestPlane(AutoTest):
self.wait_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
tstart = self.get_sim_time_cached()
last_mission_current_msg = 0
last_seq = None
while self.armed():
@ -957,7 +951,6 @@ class AutoTestPlane(AutoTest):
here = self.mav.location()
got_radius = self.get_distance(loc, here)
average_radius = 0.95*average_radius + 0.05*got_radius
now = self.get_sim_time()
on_radius = abs(got_radius - want_radius) < epsilon
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
heading = m.heading
@ -1185,7 +1178,7 @@ class AutoTestPlane(AutoTest):
self.change_mode('MANUAL')
# grab home position:
m = self.mav.recv_match(type='HOME_POSITION', blocking=True)
self.mav.recv_match(type='HOME_POSITION', blocking=True)
self.homeloc = self.mav.location()
self.run_subtest("Takeoff", self.takeoff)
@ -1239,6 +1232,7 @@ class AutoTestPlane(AutoTest):
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
m = None
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
@ -1261,7 +1255,6 @@ class AutoTestPlane(AutoTest):
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
home = self.poll_home_position()
self.wait_waypoint(5, 5, max_dist=100)
rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True)
if rf is None:

3
Tools/autotest/ardusub.py
View File

@ -4,11 +4,8 @@
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import NotAchievedException

2
Tools/autotest/autotest.py
View File

@ -74,7 +74,7 @@ def get_default_params(atype, binary):
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)

21
Tools/autotest/common.py
View File

@ -2,7 +2,6 @@ from __future__ import print_function
import abc
import math
import itertools
import os
import re
import shutil
@ -1269,13 +1268,13 @@ class AutoTest(ABC):
def get_distance(loc1, loc2):
"""Get ground distance between two locations."""
return AutoTest.get_distance_accurate(loc1, loc2)
dlat = loc2.lat - loc1.lat
try:
dlong = loc2.lng - loc1.lng
except AttributeError:
dlong = loc2.lon - loc1.lon
# dlat = loc2.lat - loc1.lat
# try:
# dlong = loc2.lng - loc1.lng
# except AttributeError:
# dlong = loc2.lon - loc1.lon
return math.sqrt((dlat*dlat) + (dlong*dlong)*AutoTest.longitude_scale(loc2.lat)) * 1.113195e5
# return math.sqrt((dlat*dlat) + (dlong*dlong)*AutoTest.longitude_scale(loc2.lat)) * 1.113195e5
@staticmethod
def get_distance_accurate(loc1, loc2):
@ -1292,7 +1291,6 @@ class AutoTest(ABC):
@staticmethod
def get_latlon_attr(loc, attrs):
'''return any found latitude attribute from loc'''
latattrs = "lat", "latitude"
ret = None
for attr in attrs:
if hasattr(loc, attr):
@ -2062,18 +2060,15 @@ class AutoTest(ABC):
self.progress("Starting MAVProxy interaction as directed")
self.mavproxy.interact()
tee.close()
tee = None
self.check_sitl_reset()
return
self.test_timings[desc] = time.time() - start_time
self.context_pop()
self.progress('PASSED: "%s"' % prettyname)
tee.close()
tee = None
def check_test_syntax(self, test_file):
"""Check mistake on autotest function syntax."""
import re
self.start_test("Check for syntax mistake in autotest lambda")
if not os.path.isfile(test_file):
self.progress("File %s does not exist" % test_file)
@ -2656,10 +2651,8 @@ class AutoTest(ABC):
self.change_mode(mode)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode : %s disarmed" % mode)
pass
except ValueError:
self.progress("PASS not able to set mode : %s disarmed" % mode)
pass
else:
self.progress("Not armable mode : %s" % mode)
self.change_mode(mode)
@ -2708,11 +2701,9 @@ class AutoTest(ABC):
except AutoTestTimeoutException:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
pass
except ValueError:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
pass
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 0)
self.change_mode(self.default_mode())

6
Tools/autotest/fakepos.py
View File

@ -60,14 +60,8 @@ heading = 0.0
speedN = 0
speedE = 0.0
speedD = 0.0
xAccel = 0.0
yAccel = 0.0
zAccel = 0.0
rollRate = 0.0
pitchRate = 0.0
yawRate = 0.0
rollDeg = 0.0
pitchDeg = 0.0
yawDeg = 0.0
airspeed = 0
magic = 0x4c56414f

3
Tools/autotest/jsb_sim/runsim.py
View File

@ -285,10 +285,8 @@ def main_loop():
"""Run main loop."""
tnow = time.time()
last_report = tnow
last_sim_input = tnow
last_wind_update = tnow
frame_count = 0
paused = False
simstep = 1.0/opts.rate
simtime = simstep
frame_time = 1.0/opts.rate
@ -349,7 +347,6 @@ def main_loop():
if new_frame:
now = time.time()
if now < last_wall_time + scaled_frame_time:
dt = last_wall_time+scaled_frame_time - now
time.sleep(last_wall_time+scaled_frame_time - now)
now = time.time()

10
Tools/autotest/pysim/util.py
View File

@ -11,7 +11,6 @@ import sys
import tempfile
import time
from math import acos, atan2, cos, pi, sqrt
from subprocess import PIPE, Popen, call, check_call
import pexpect
@ -68,11 +67,11 @@ def run_cmd(cmd, directory=".", show=True, output=False, checkfail=True):
if show:
print("Running: (%s) in (%s)" % (cmd_as_shell(cmd), directory,))
if output:
return Popen(cmd, shell=shell, stdout=PIPE, cwd=directory).communicate()[0]
return subprocess.Popen(cmd, shell=shell, stdout=subprocess.PIPE, cwd=directory).communicate()[0]
elif checkfail:
return check_call(cmd, shell=shell, cwd=directory)
return subprocess.check_call(cmd, shell=shell, cwd=directory)
else:
return call(cmd, shell=shell, cwd=directory)
return subprocess.call(cmd, shell=shell, cwd=directory)
def rmfile(path):
@ -296,7 +295,7 @@ def start_SITL(binary,
cmd.extend(["--uartF=sim:vicon:"])
if gdb and not os.getenv('DISPLAY'):
p = subprocess.Popen(cmd)
subprocess.Popen(cmd)
atexit.register(kill_screen_gdb)
# we are expected to return a pexpect wrapped around the
# stdout of the ArduPilot binary. Not going to happen until
@ -360,7 +359,6 @@ def expect_setup_callback(e, callback):
return ret
except pexpect.TIMEOUT:
e.expect_user_callback(e)
pass
print("Timed out looking for %s" % pattern)
raise pexpect.TIMEOUT(timeout)

2
Tools/autotest/quadplane.py
View File

@ -3,13 +3,11 @@
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from common import AutoTestTimeoutException
from pysim import util
from pysim import vehicleinfo
import operator

3
Tools/autotest/sim_vehicle.py
View File

@ -488,7 +488,6 @@ def run_in_terminal_window(autotest, name, cmd):
# on MacOS record the window IDs so we can close them later
out = subprocess.Popen(runme, stdout=subprocess.PIPE).communicate()[0]
out = out.decode('utf-8')
import re
p = re.compile('tab 1 of window id (.*)')
tstart = time.time()
@ -506,7 +505,7 @@ def run_in_terminal_window(autotest, name, cmd):
else:
progress("Cannot find %s process terminal" % name)
else:
p = subprocess.Popen(runme)
subprocess.Popen(runme)
tracker_uarta = None # blemish

1
Tools/scripts/build_binaries.py
View File

@ -137,7 +137,6 @@ is bob we will attempt to checkout bob-AVR'''
return True
except subprocess.CalledProcessError:
self.progress("Checkout branch %s failed" % branch)
pass
self.progress("Failed to find tag for %s %s %s %s" %
(vehicle, ctag, cboard, cframe))

4
Tools/scripts/check_firmware_version.py
View File

@ -3,7 +3,7 @@
check firmware-version.txt in binaries directory
'''
import os, shutil, subprocess
import os
VEHICLES = ['AntennaTracker', 'Copter', 'Plane', 'Rover', 'Sub']
@ -27,7 +27,7 @@ def parse_git_version(gfile):
def check_fw_version(version):
try:
(version_numbers, release_type) = version.split("-")
(major, minor, patch) = version_numbers.split(".")
(_, _, _) = version_numbers.split(".")
except Exception:
return False
return True

1
Tools/scripts/configure_all.py
View File

@ -5,7 +5,6 @@ script to run configre for all hwdef.dat, to check for syntax errors
"""
import os
import shutil
import subprocess
import sys
import fnmatch

2
Tools/scripts/generate_manifest.py
View File

@ -284,7 +284,7 @@ class ManifestGenerator():
try:
firmware_version = open(firmware_version_file).read()
firmware_version = firmware_version.strip()
(version_numbers, release_type) = firmware_version.split("-")
(_, _) = firmware_version.split("-")
except ValueError:
print("malformed firmware-version.txt at (%s)" % (firmware_version_file,), file=sys.stderr)
continue

4
Tools/scripts/magfit_flashlog.py
View File

@ -4,7 +4,7 @@
using the algorithm from Bill Premerlani
'''
import sys, time, os, math
import sys
# command line option handling
from optparse import OptionParser
@ -19,7 +19,7 @@ parser.add_option("--repeat", type='int', default=1, help="number of repeats thr
(opts, args) = parser.parse_args()
from rotmat import Vector3, Matrix3
from rotmat import Vector3
if len(args) < 1:
print("Usage: magfit_flashlog.py [options] <LOGFILE...>")