Refactor gimbal.py for improved readability

Author: Pjort

examples/gimbal.py

@@ -6,21 +6,30 @@
 
 
 async def get_gimbals(drone, timeout=10):
-    gimbals_found = [] # List to store all gimbals found
+    gimbals_found = []  # List to store all gimbals found
 
     async def fetch_gimbals():
-        async for gimbal_list in drone.gimbal.gimbal_list(): # gimbal_list is a GimbalList object
-            for gimbal in gimbal_list.gimbals: # gimbal_list.gimbals contains GimbalItem objects
-                print(f"Found Gimbal: ID={gimbal.gimbal_id}, Model={gimbal.model_name}, Vendor={gimbal.vendor_name}, Device ID={gimbal.gimbal_device_id}")
+        # gimbal_list is a GimbalList object
+        async for gimbal_list in drone.gimbal.gimbal_list():
+            # gimbal_list.gimbals contains GimbalItem objects
+            for gimbal in gimbal_list.gimbals:
+                print(
+                    f"Found Gimbal: ID={gimbal.gimbal_id}, "
+                    f"Model={gimbal.model_name}, "
+                    f"Vendor={gimbal.vendor_name}, "
+                    f"Device ID={gimbal.gimbal_device_id}"
+                )
                 gimbals_found.append(gimbal)
         return
-    
+
     try:
-        await asyncio.wait_for(fetch_gimbals(), timeout=timeout) # Apply timeout to async loop
+        # Apply timeout to async loop
+        await asyncio.wait_for(fetch_gimbals(), timeout=timeout)
         return gimbals_found
     except asyncio.TimeoutError:
         print("Timeout: No gimbals found.")
 
+
 async def run():
     # Init the drone
     drone = System()
@@ -31,69 +40,99 @@ async def run():
     for gimbal in gimbals:
 
         # Start printing gimbal position updates
-        print_gimbal_position_task = asyncio.create_task(print_gimbal_attitude(gimbal.gimbal_id, drone))
+        print_gimbal_position_task = asyncio.create_task(
+            print_gimbal_attitude(gimbal.gimbal_id, drone)
+        )
 
         print("Taking control of gimbal with ID", gimbal.gimbal_id)
         await drone.gimbal.take_control(gimbal.gimbal_id, ControlMode.PRIMARY)
 
         print("Look forward with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(2)
 
         print("Look down with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, -90, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, -90, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Back to horizontal with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Slowly look up with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angular_rates(gimbal.gimbal_id, 0, 5, 0, GimbalMode.YAW_FOLLOW, SendMode.STREAM)
+        await drone.gimbal.set_angular_rates(
+            gimbal.gimbal_id, 0, 5, 0, GimbalMode.YAW_FOLLOW, SendMode.STREAM
+        )
         await asyncio.sleep(4)
 
         print("Back to horizontal with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Look right with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 90, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 90, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Look forward again with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Slowly look to the left with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angular_rates(gimbal.gimbal_id, 0, 0, -5, GimbalMode.YAW_FOLLOW, SendMode.STREAM)
+        await drone.gimbal.set_angular_rates(
+            gimbal.gimbal_id, 0, 0, -5, GimbalMode.YAW_FOLLOW, SendMode.STREAM
+        )
         await asyncio.sleep(4)
 
         print("Look forward again with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         # Set the gimbal to track a region of interest (lat, lon, altitude)
         # Units are degrees and meters MSL respectively
-        print("Look at a ROI (region of interest) with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_roi_location(gimbal.gimbal_id, 47.39743832, 8.5463316, 488)
+        print(
+            "Look at a ROI (region of interest) with gimbal ID",
+            gimbal.gimbal_id)
+        await drone.gimbal.set_roi_location(
+            gimbal.gimbal_id, 47.39743832, 8.5463316, 488
+        )
         await asyncio.sleep(4)
 
         print("Back to forward again with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_angles(gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE)
+        await drone.gimbal.set_angles(
+            gimbal.gimbal_id, 0, 0, 0, GimbalMode.YAW_FOLLOW, SendMode.ONCE
+        )
         await asyncio.sleep(4)
 
         print("Release control of gimbal with ID", gimbal.gimbal_id)
         await drone.gimbal.release_control(gimbal.gimbal_id)
 
         print_gimbal_position_task.cancel()
 
+
 async def print_gimbal_attitude(gimbal_id, drone):
     while True:
         attitude = await drone.gimbal.get_attitude(gimbal_id)
-        print(f"Gimbal ID {gimbal_id} pitch: {attitude.euler_angle_forward.pitch_deg}, yaw: {attitude.euler_angle_forward.yaw_deg}")
+        print(
+            f"Gimbal ID {gimbal_id} "
+            f"pitch: {attitude.euler_angle_forward.pitch_deg}, "
+            f"yaw: {attitude.euler_angle_forward.yaw_deg}")
         await asyncio.sleep(0.5)
 
 
 if __name__ == "__main__":
     # Run the asyncio loop
-    asyncio.run(run())
+    asyncio.run(run())