Please flake8

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rclpy/rclpy/lifecycle/__init__.py

@@ -14,8 +14,8 @@
 
 from .managed_entity import ManagedEntity
 from .managed_entity import SimpleManagedEntity
-from .node import LifecycleNodeMixin
 from .node import LifecycleNode
+from .node import LifecycleNodeMixin
 from .node import LifecycleState
 from .publisher import LifecyclePublisher
 

rclpy/rclpy/lifecycle/node.py

@@ -31,15 +31,13 @@
 from .managed_entity import ManagedEntity
 from .publisher import LifecyclePublisher
 
-from ..impl.implementation_singleton import rclpy_implementation as _rclpy
-
 
 TransitionCallbackReturn = _rclpy.TransitionCallbackReturnType
 
 
 class LifecycleState(NamedTuple):
     label: str
-    id: int
+    state_id: int
 
 
 class LifecycleNodeMixin(ManagedEntity):
@@ -161,9 +159,11 @@ def trigger_cleanup(self):
     def trigger_shutdown(self):
         current_state = self._state_machine.current_state[1]
         if current_state == 'unconfigured':
-            return self.__change_state(lifecycle_msgs.msg.Transition.TRANSITION_UNCONFIGURED_SHUTDOWN)
+            return self.__change_state(
+                lifecycle_msgs.msg.Transition.TRANSITION_UNCONFIGURED_SHUTDOWN)
         if current_state == 'inactive':
-            return self.__change_state(lifecycle_msgs.msg.Transition.TRANSITION_INACTIVE_SHUTDOWN)
+            return self.__change_state(
+                lifecycle_msgs.msg.Transition.TRANSITION_INACTIVE_SHUTDOWN)
         if current_state == 'active':
             return self.__change_state(lifecycle_msgs.msg.Transition.TRANSITION_ACTIVE_SHUTDOWN)
 
@@ -273,7 +273,7 @@ def __execute_callback(
     def __change_state(self, transition_id: int) -> TransitionCallbackReturn:
         self.__check_is_initialized()
         initial_state = self._state_machine.current_state
-        initial_state = LifecycleState(id=initial_state[0], label=initial_state[1])
+        initial_state = LifecycleState(state_id=initial_state[0], label=initial_state[1])
         self._state_machine.trigger_transition_by_id(transition_id, True)
 
         cb_return_code = self.__execute_callback(

rclpy/test/test_lifecycle.py

@@ -12,9 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import pytest
 from unittest import mock
 
+import pytest
+
 import rclpy
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.lifecycle import LifecycleNode
@@ -49,7 +50,8 @@ def test_lifecycle_node_init():
 
 
 def test_lifecycle_state_transitions():
-    node = LifecycleNode('test_lifecycle_state_transitions_1', enable_communication_interface=False)
+    node = LifecycleNode(
+        'test_lifecycle_state_transitions_1', enable_communication_interface=False)
     # normal transitions
     assert node.trigger_configure() == TransitionCallbackReturn.SUCCESS
     assert node.trigger_activate() == TransitionCallbackReturn.SUCCESS
@@ -64,28 +66,37 @@ def test_lifecycle_state_transitions():
     node.destroy_node()
 
     class ErrorOnConfigureHandledCorrectlyNode(LifecycleNode):
-        on_configure = lambda: TransitionCallbackReturn.ERROR
+
+        def on_configure(self):
+            return TransitionCallbackReturn.ERROR
 
         def __init__(self, *args, **kwargs):
             super().__init__(*args, **kwargs)
 
-    node = ErrorOnConfigureHandledCorrectlyNode('test_lifecycle_state_transitions_2', enable_communication_interface=False)
+    node = ErrorOnConfigureHandledCorrectlyNode(
+        'test_lifecycle_state_transitions_2', enable_communication_interface=False)
     assert node.trigger_configure() == TransitionCallbackReturn.ERROR
     assert node._state_machine.current_state[1] == 'unconfigured'
 
     class ErrorOnConfigureHandledInCorrectlyNode(LifecycleNode):
-        on_configure = lambda: TransitionCallbackReturn.ERROR
-        on_error = lambda: TransitionCallbackReturn.FAILURE
+
+        def on_configure(self):
+            return TransitionCallbackReturn.ERROR
+
+        def on_error(self):
+            return TransitionCallbackReturn.ERROR
 
         def __init__(self, *args, **kwargs):
             super().__init__(*args, **kwargs)
 
-    node = ErrorOnConfigureHandledInCorrectlyNode('test_lifecycle_state_transitions_3', enable_communication_interface=False)
+    node = ErrorOnConfigureHandledInCorrectlyNode(
+        'test_lifecycle_state_transitions_3', enable_communication_interface=False)
     assert node.trigger_configure() == TransitionCallbackReturn.ERROR
     assert node._state_machine.current_state[1] == 'finalized'
 
 # TODO(ivanpauno): Add automated tests for lifecycle services!!
 
+
 def test_lifecycle_publisher():
     node = LifecycleNode('test_lifecycle_publisher', enable_communication_interface=False)
     with mock.patch.object(Publisher, 'publish') as mock_publish: