Tools: correct Python cleanliness problems

Tools/autotest/arducopter.py

@@ -3912,7 +3912,7 @@ def fly_guided_move_local(self, x, y, z_up, timeout=100):
             MAV_POS_TARGET_TYPE_MASK.POS_ONLY | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # mask specifying use-only-x-y-z
             x, # x
             y, # y
-            -z_up,# z
+            -z_up, # z
             0, # vx
             0, # vy
             0, # vz
@@ -7294,7 +7294,7 @@ def fly_each_frame(self):
             # to carry the path to the JSON.
             actual_model = model.split(":")[0]
             defaults = self.model_defaults_filepath(actual_model)
-            if type(defaults) != list:
+            if not isinstance(defaults, list):
                 defaults = [defaults]
             self.customise_SITL_commandline(
                 ["--defaults", ','.join(defaults), ],

Tools/autotest/arduplane.py

@@ -3203,7 +3203,7 @@ def fly_each_frame(self):
             # to carry the path to the JSON.
             actual_model = model.split(":")[0]
             defaults = self.model_defaults_filepath(actual_model)
-            if type(defaults) != list:
+            if not isinstance(defaults, list):
                 defaults = [defaults]
             self.customise_SITL_commandline(
                 ["--defaults", ','.join(defaults), ],

Tools/autotest/autotest.py

@@ -739,7 +739,7 @@ def run_tests(steps):
         try:
             success = run_step(step)
             testinstance = None
-            if type(success) == tuple:
+            if isinstance(type, tuple):
                 (success, testinstance) = success
             if success:
                 results.add(step, '<span class="passed-text">PASSED</span>',

Tools/autotest/bisect-helper.py

@@ -130,7 +130,7 @@ def run_program(self, prefix, cmd_list):
                     # select not available on Windows... probably...
                 time.sleep(0.1)
                 continue
-            if type(x) == bytes:
+            if isinstance(x, bytes):
                 x = x.decode('utf-8')
             self.program_output += x
             x = x.rstrip()

Tools/autotest/check_autotest_speedup.py

@@ -53,7 +53,7 @@ def run_program(self, prefix, cmd_list):
                     # select not available on Windows... probably...
                 time.sleep(0.1)
                 continue
-            if type(x) == bytes:
+            if isinstance(x, bytes):
                 x = x.decode('utf-8')
             self.program_output += x
             x = x.rstrip()

Tools/autotest/common.py

@@ -2068,7 +2068,7 @@ def test_parameter_documentation_get_all_parameters(self):
     def find_format_defines(self, lines):
         ret = {}
         for line in lines:
-            if type(line) == bytes:
+            if isinstance(line, bytes):
                 line = line.decode("utf-8")
             m = re.match(r'#define (\w+_(?:LABELS|FMT|UNITS|MULTS))\s+(".*")', line)
             if m is None:
@@ -2118,7 +2118,7 @@ def all_log_format_ids(self):
         message_infos = []
         for line in structure_lines:
             #            print("line: %s" % line)
-            if type(line) == bytes:
+            if isinstance(line, bytes):
                 line = line.decode("utf-8")
             line = re.sub("//.*", "", line) # trim comments
             if re.match(r"\s*$", line):
@@ -2183,7 +2183,7 @@ def all_log_format_ids(self):
         linestate_within = 90
         linestate = linestate_none
         for line in open(filepath, 'rb').readlines():
-            if type(line) == bytes:
+            if isinstance(line, bytes):
                 line = line.decode("utf-8")
             line = re.sub("//.*", "", line) # trim comments
             if re.match(r"\s*$", line):
@@ -2279,7 +2279,7 @@ def all_log_format_ids(self):
                         continue
                     count = 0
                     for line in open(filepath, 'rb').readlines():
-                        if type(line) == bytes:
+                        if isinstance(line, bytes):
                             line = line.decode("utf-8")
                         if state == state_outside:
                             if (re.match(r"\s*AP::logger\(\)[.]Write(?:Streaming)?\(", line) or
@@ -4640,7 +4640,7 @@ def get_parameter(self, *args, **kwargs):
 
     def send_get_parameter_direct(self, name):
         encname = name
-        if sys.version_info.major >= 3 and type(encname) != bytes:
+        if sys.version_info.major >= 3 and not isinstance(encname, bytes):
             encname = bytes(encname, 'ascii')
         self.mav.mav.param_request_read_send(self.sysid_thismav(),
                                              1,
@@ -4951,7 +4951,7 @@ def verify_parameter_values(self, parameter_stuff, max_delta=0.0):
         for param in parameter_stuff:
             fetched_value = self.get_parameter(param)
             wanted_value = parameter_stuff[param]
-            if type(wanted_value) == tuple:
+            if isinstance(wanted_value, tuple):
                 max_delta = wanted_value[1]
                 wanted_value = wanted_value[0]
             if abs(fetched_value - wanted_value) > max_delta:
@@ -8379,7 +8379,7 @@ def rate_to_interval_us(self, rate):
 
     def set_message_rate_hz(self, id, rate_hz):
         '''set a message rate in Hz; 0 for original, -1 to disable'''
-        if type(id) == str:
+        if isinstance(id, str):
             id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % id)
         if rate_hz == 0 or rate_hz == -1:
             set_interval = rate_hz
@@ -8537,7 +8537,7 @@ def test_set_message_interval_basic(self):
             raise ex
 
     def send_poll_message(self, message_id, target_sysid=None, target_compid=None):
-        if type(message_id) == str:
+        if isinstance(message_id, str):
             message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
         self.send_cmd(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
                       message_id,
@@ -8551,7 +8551,7 @@ def send_poll_message(self, message_id, target_sysid=None, target_compid=None):
                       target_compid=target_compid)
 
     def poll_message(self, message_id, timeout=10):
-        if type(message_id) == str:
+        if isinstance(message_id, str):
             message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
         self.drain_mav()
         tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
@@ -9439,7 +9439,7 @@ def upload_fences_from_locations(self,
         seq = 0
         items = []
         for locs in list_of_list_of_locs:
-            if type(locs) == dict:
+            if isinstance(locs, dict):
                 # circular fence
                 if vertex_type == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
                     v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION
@@ -11599,7 +11599,7 @@ def autotest(self):
         """Autotest used by ArduPilot autotest CI."""
         all_tests = []
         for test in self.tests():
-            if type(test) == Test:
+            if isinstance(test, Test):
                 all_tests.append(test)
                 continue
             (name, desc, func) = test

Tools/autotest/helicopter.py

@@ -183,7 +183,7 @@ def fly_each_frame(self):
             # to carry the path to the JSON.
             actual_model = model.split(":")[0]
             defaults = self.model_defaults_filepath(actual_model)
-            if type(defaults) != list:
+            if not isinstance(defaults, list):
                 defaults = [defaults]
             self.customise_SITL_commandline(
                 ["--defaults", ','.join(defaults), ],

Tools/autotest/quadplane.py

@@ -258,15 +258,15 @@ def test_airmode(self):
     def test_motor_mask(self):
         """Check operation of output_motor_mask"""
         """copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
-        if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
+        if not (int(self.get_parameter('Q_TILT_MASK')) & 1):
             self.progress("output_motor_mask not in use")
             return
         self.progress("Testing output_motor_mask")
         self.wait_ready_to_arm()
 
         """Default channel for Motor1 is 5"""
         self.progress('Assert that SERVO5 is Motor1')
-        assert(33 == self.get_parameter('SERVO5_FUNCTION'))
+        assert (33 == self.get_parameter('SERVO5_FUNCTION'))
 
         modes = ('MANUAL', 'FBWA', 'QHOVER')
         for mode in modes:

Tools/gittools/pre-commit.py

@@ -38,7 +38,7 @@ def check_file(self, filepath):
     def split_git_diff_output(self, output):
         '''split output from git-diff into a list of (status, filepath) tuples'''
         ret = []
-        if type(output) == bytes:
+        if isinstance(output, bytes):
             output = output.decode('utf-8')
         for line in output.split("\n"):
             if len(line) == 0:

Tools/scripts/uploader.py

@@ -629,7 +629,7 @@ def erase_extflash(self, label, size):
         self.__send(uploader.EXTF_ERASE + size_bytes + uploader.EOC)
         self.__getSync()
         last_pct = 0
-        while(True):
+        while True:
             if last_pct < 90:
                 pct = self.__recv_uint8()
                 if last_pct != pct: