Ran pre-commit

Author: LaurieCheers-unity

src/ros_tcp_endpoint/client.py

@@ -168,17 +168,17 @@ def send_ros_service_request(self, srv_id, destination, data):
             return
         else:
             ros_communicator = self.tcp_server.source_destination_dict[destination]
-            service_thread = threading.Thread(target=self.service_call_thread, args=(srv_id, destination, data, ros_communicator))
+            service_thread = threading.Thread(
+                target=self.service_call_thread, args=(srv_id, destination, data, ros_communicator)
+            )
             service_thread.daemon = True
             service_thread.start()
 
     def service_call_thread(self, srv_id, destination, data, ros_communicator):
         response = ros_communicator.send(data)
-        
+
         if not response:
-            error_msg = "No response data from service '{}'!".format(
-                destination
-            )
+            error_msg = "No response data from service '{}'!".format(destination)
             self.tcp_server.send_unity_error(error_msg)
             rospy.logerr(error_msg)
             # TODO: send a response to Unity anyway?
@@ -207,13 +207,17 @@ def run(self):
         try:
             while not halt_event.is_set():
                 destination, data = self.read_message(self.conn)
-                
+
                 if self.tcp_server.pending_srv_id is not None:
                     # if we've been told that the next message will be a service request/response, process it as such
                     if self.tcp_server.pending_srv_is_request:
-                        self.send_ros_service_request(self.tcp_server.pending_srv_id, destination, data)
+                        self.send_ros_service_request(
+                            self.tcp_server.pending_srv_id, destination, data
+                        )
                     else:
-                        self.tcp_server.send_unity_service_response(self.tcp_server.pending_srv_id, data)
+                        self.tcp_server.send_unity_service_response(
+                            self.tcp_server.pending_srv_id, data
+                        )
                     self.tcp_server.pending_srv_id = None
                 elif destination == "":
                     # ignore this keepalive message, listen for more

src/ros_tcp_endpoint/server.py

@@ -104,15 +104,14 @@ def send_unity_service_response(self, srv_id, data):
     def handle_syscommand(self, topic, data):
         function = getattr(self.syscommands, topic[2:])
         if function is None:
-            self.send_unity_error(
-                "Don't understand SysCommand.'{}'".format(topic)
-            )
+            self.send_unity_error("Don't understand SysCommand.'{}'".format(topic))
             return
         else:
             message_json = data.decode("utf-8")
             params = json.loads(message_json)
             function(**params)
 
+
 class SysCommands:
     def __init__(self, tcp_server):
         self.tcp_server = tcp_server
@@ -218,13 +217,13 @@ def unity_service(self, topic, message_name):
         self.tcp_server.source_destination_dict[topic] = UnityService(
             topic, message_class, self.tcp_server
         )
-        
-    def response(self, srv_id): # the next message is a service response
-        self.tcp_server.pending_srv_id = srv_id 
+
+    def response(self, srv_id):  # the next message is a service response
+        self.tcp_server.pending_srv_id = srv_id
         self.tcp_server.pending_srv_is_request = False
 
-    def request(self, srv_id): # the next message is a service request
-        self.tcp_server.pending_srv_id = srv_id 
+    def request(self, srv_id):  # the next message is a service request
+        self.tcp_server.pending_srv_id = srv_id
         self.tcp_server.pending_srv_is_request = True
 
     def topic_list(self):

src/ros_tcp_endpoint/tcp_sender.py

@@ -86,7 +86,7 @@ def send_unity_message(self, topic, message):
     def send_unity_service_request(self, topic, service_class, request):
         if self.queue is None:
             return None
-        
+
         thread_pauser = ThreadPauser()
         with self.srv_lock:
             srv_id = self.next_srv_id
@@ -164,12 +164,15 @@ def sender_loop(self, conn, tid, halt_event):
                 if self.queue is local_queue:
                     self.queue = None
 
+
 class SysCommand_Log:
     text = ""
 
+
 class SysCommand_Service:
     srv_id = 0
 
+
 class SysCommand_TopicsResponse:
     topics = []
-    types = []
+    types = []