Tools: random Python cleanups based on lgtm analysis

Tools/LogAnalyzer/DataflashLog.py

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

Tools/Replay/CheckLogs.py

@@ -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:

Tools/autotest/antennatracker.py

@@ -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__))

Tools/autotest/apmrover2.py

@@ -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

Tools/autotest/arducopter.py

@@ -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),
 

Tools/autotest/arduplane.py

@@ -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:

Tools/autotest/ardusub.py

@@ -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
 

Tools/autotest/autotest.py

@@ -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)

Tools/autotest/common.py

@@ -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())

Tools/autotest/fakepos.py

@@ -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

Tools/autotest/jsb_sim/runsim.py

@@ -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()
 

Tools/autotest/pysim/util.py

@@ -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)
 

Tools/autotest/quadplane.py

@@ -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
 

Tools/autotest/sim_vehicle.py

@@ -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

Tools/scripts/build_binaries.py

@@ -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))

Tools/scripts/check_firmware_version.py

@@ -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

Tools/scripts/configure_all.py

@@ -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

Tools/scripts/generate_manifest.py

@@ -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

Tools/scripts/magfit_flashlog.py

@@ -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...>")