cleaned up direct tests, fixed various lint warnings and removed unused code

integrationtests/demo_tests/direct_offboard_posctl_test.py

@@ -37,7 +37,6 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
 
@@ -46,11 +45,8 @@ import numpy as np
 
 from px4.msg import vehicle_local_position
 from px4.msg import vehicle_control_mode
-from px4.msg import actuator_armed
 from px4.msg import position_setpoint_triplet
 from px4.msg import position_setpoint
-from sensor_msgs.msg import Joy
-from std_msgs.msg import Header
 
 from manual_input import ManualInput
 from flight_path_assertion import FlightPathAssertion
@@ -68,31 +64,34 @@ class DirectOffboardPosctlTest(unittest.TestCase):
         rospy.init_node('test_node', anonymous=True)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
-        self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+        self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
+        self.has_pos = False
+        self.local_position = vehicle_local_position()
+        self.control_mode = vehicle_control_mode()
 
     def tearDown(self):
-        if (self.fpa):
+        if self.fpa:
             self.fpa.stop()
 
     #
     # General callback functions used in tests
     #
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
+        self.control_mode = data
 
 
     #
     # Helper methods
     #
     def is_at_position(self, x, y, z, offset):
-        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
+        rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
         desired = np.array((x, y, z))
-        pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
+        pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
         return linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
@@ -105,12 +104,12 @@ class DirectOffboardPosctlTest(unittest.TestCase):
         pos.position_valid = True
         stp = position_setpoint_triplet()
         stp.current = pos
-        self.pubSpt.publish(stp)
+        self.pub_spt.publish(stp)
 
         # does it reach the position in X seconds?
         count = 0
-        while(count < timeout):
-            if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
+        while count < timeout:
+            if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
@@ -121,22 +120,22 @@ class DirectOffboardPosctlTest(unittest.TestCase):
     # Test offboard position control
     #
     def test_posctl(self):
-        manIn = ManualInput()
+        man_in = ManualInput()
 
         # arm and go into offboard
-        manIn.arm()
-        manIn.offboard()
-        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
-        self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
-        self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+        man_in.arm()
+        man_in.offboard()
+        self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
+        self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
 
         # prepare flight path
         positions = (
-            (0,0,0),
-            (2,2,-2),
-            (2,-2,-2),
-            (-2,-2,-2),
-            (2,2,-2))
+            (0, 0, 0),
+            (2, 2, -2),
+            (2, -2, -2),
+            (-2, -2, -2),
+            (2, 2, -2))
 
         # flight path assertion
         self.fpa = FlightPathAssertion(positions, 1, 0)
@@ -147,12 +146,10 @@ class DirectOffboardPosctlTest(unittest.TestCase):
             self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
         
         # does it hold the position for Y seconds?
-        positionHeld = True
         count = 0
         timeout = 50
-        while(count < timeout):
-            if(not self.is_at_position(2, 2, -2, 0.5)):
-                positionHeld = False
+        while count < timeout:
+            if not self.is_at_position(2, 2, -2, 0.5):
                 break
             count = count + 1
             self.rate.sleep()