makefile fix and cleanup

Makefile

 .DEFAULT_GOAL := default
 
 LIBSO=1
-export LIBSO
 
 darknet: 
 	git submodule init
 	git submodule update
 
 default: darknet
-	$(MAKE) -C darknet
-
-.PHONY: default
+	$(MAKE) LIBSO=$(LIBSO) -C darknet
 
+.PHONY: default darknet

src/utils/client.py

-'''
-Communicate with the server at the manufacturer
+"""Communicate with the server at the manufacturer.
+
 Not useful for the local drive script
-'''
+"""
 import paho.mqtt.client as mqtt
 import json
 import time
@@ -17,13 +17,23 @@ MAX_Z = 469  # TODO test this one!
 def coord(x, y, z):
     return {"kind": "coordinate", "args": {"x": x, "y": y, "z": z}}  # 返回json 嵌套对象
 
+
 def move_request(x, y, z):
-  return {"kind": "rpc_request",  # 返回 json对象，对象内含数组
+    return {
+        "kind": "rpc_request",  # 返回 json对象，对象内含数组
         "args": {"label": ""},
-          "body": [{"kind": "move_absolute",
-                    "args": {"location": coord(x, y, z),
+        "body": [
+            {
+                "kind": "move_absolute",
+                "args": {
+                    "location": coord(x, y, z),
                     "offset": coord(0, 0, 0),
-                             "speed": 100}}]}
+                    "speed": 100,
+                },
+            }
+        ],
+    }
+
 
 def read_pin_request(pin_number, pin_mode="digital"):
     modes = {"digital": 0, "analog": 1}
@@ -31,14 +41,21 @@ def read_pin_request(pin_number, pin_mode="digital"):
     if pin_mode != "digital":
         raise NotImplementedError()
 
-  return {"kind": "rpc_request",
+    return {
+        "kind": "rpc_request",
         "args": {"label": ""},
-          "body": [{"kind": "read_pin",
+        "body": [
+            {
+                "kind": "read_pin",
                 "args": {
                     "label": "pin" + str(pin_number),
                     "pin_mode": modes[pin_mode] or (modes["digital"]),
-                      "pin_number": pin_number
-                    }}]}
+                    "pin_number": pin_number,
+                },
+            }
+        ],
+    }
+
 
 def write_pin_request(pin_number, pin_value, pin_mode="digital"):
     modes = {"digital": 0, "analog": 1}
@@ -46,41 +63,54 @@ def write_pin_request(pin_number, pin_value, pin_mode="digital"):
     if pin_mode != "digital":
         raise NotImplementedError()
 
-  return {"kind": "rpc_request",
+    return {
+        "kind": "rpc_request",
         "args": {"label": ""},
-          "body": [{"kind": "write_pin",
+        "body": [
+            {
+                "kind": "write_pin",
                 "args": {
                     "pin_mode": modes[pin_mode] or (modes["digital"]),
                     "pin_number": pin_number,
-            "pin_value": pin_value
+                    "pin_value": pin_value,
+                },
             }
+        ],
     }
-                  ]
-          }
+
 
 def toggle_pin_request(pin_number):
-  return {"kind": "rpc_request",
+    return {
+        "kind": "rpc_request",
         "args": {"label": ""},
-          "body": [{"kind": "toggle_pin",
+        "body": [
+            {
+                "kind": "toggle_pin",
                 "args": {
                     "pin_number": pin_number,
+                },
             }
-                    }
-                  ]
+        ],
     }
 
+
 def take_photo_request():
-  return {"kind": "rpc_request",
+    return {
+        "kind": "rpc_request",
         "args": {"label": ""},  # label空着是为了在blocking_request中填上uuid，唯一识别码
-          "body": [{"kind": "take_photo", "args": {}}]}
+        "body": [{"kind": "take_photo", "args": {}}],
+    }
+
 
 def clip(v, min_v, max_v):
-  if v < min_v: return min_v
-  if v > max_v: return max_v
+    if v < min_v:
+        return min_v
+    if v > max_v:
+        return max_v
     return v
 
-class FarmbotClient(object):
 
+class FarmbotClient(object):
     def __init__(self, device_id, token):
 
         self.device_id = device_id
@@ -89,21 +119,24 @@ class FarmbotClient(object):
         self.client.on_connect = self._on_connect  # ？？？
         self.client.on_message = self._on_message
 
-    logging.basicConfig(level=logging.DEBUG,
+        logging.basicConfig(
+            level=logging.DEBUG,
             format="%(asctime)s\t%(name)s\t%(levelname)s\t%(message)s",
-                        filename='farmbot_client.log',
-                        filemode='a')
+            filename="farmbot_client.log",
+            filemode="a",
+        )
         console = logging.StreamHandler()
         console.setLevel(logging.INFO)
         console.setFormatter(logging.Formatter("%(asctime)s\t%(message)s"))
-    logging.getLogger('').addHandler(console)
+        logging.getLogger("").addHandler(console)
 
         self.connected = False
-    self.client.connect("clever-octopus.rmq.cloudamqp.com", 1883, 60)  #前面的url要运行按README.md中request_token.py 后面俩是TCP Port, Websocket Port
+        self.client.connect(
+            "clever-octopus.rmq.cloudamqp.com", 1883, 60
+        )  # 前面的url要运行按README.md中request_token.py 后面俩是TCP Port, Websocket Port
         self.client.loop_start()
         # 初始化函数里就会连接到服务器上，所以每次实例化一个新的client时，就已经连上了
 
-
     def shutdown(self):
         self.client.disconnect()
         self.client.loop_stop()
@@ -113,7 +146,9 @@ class FarmbotClient(object):
         y = clip(y, 0, MAX_Y)
         z = clip(z, 0, MAX_Z)
         status_ok = self._blocking_request(move_request(x, y, z))  # 发请求
-    logging.info("MOVE (%s,%s,%s) [%s]", x, y, z, status_ok) #存日志，包括执行了什么“move x y z +返回值 ”
+        logging.info(
+            "MOVE (%s,%s,%s) [%s]", x, y, z, status_ok
+        )  # 存日志，包括执行了什么“move x y z +返回值 ”
 
     def take_photo(self):
         # TODO: is this enough? it's issue a request for the photo, but is the actual capture async?
@@ -121,12 +156,18 @@ class FarmbotClient(object):
         logging.info("TAKE_PHOTO [%s]", status_ok)
 
     def read_pin(self, pin_number, pin_mode="digital"):
-    status_ok = self._blocking_request(read_pin_request(pin_number, pin_mode=pin_mode))
+        status_ok = self._blocking_request(
+            read_pin_request(pin_number, pin_mode=pin_mode)
+        )
         logging.info(f"READ PIN (pin_number: {pin_number}) [{status_ok}]")
 
     def write_pin(self, pin_number, pin_value, pin_mode="digital"):
-    status_ok = self._blocking_request(write_pin_request(pin_number, pin_value, pin_mode=pin_mode))
-    logging.info(f"WRITE PIN (pin_number: {pin_number}, pin_value: {pin_value}) [{status_ok}]")
+        status_ok = self._blocking_request(
+            write_pin_request(pin_number, pin_value, pin_mode=pin_mode)
+        )
+        logging.info(
+            f"WRITE PIN (pin_number: {pin_number}, pin_value: {pin_value}) [{status_ok}]"
+        )
 
     def toggle_pin(self, pin_number):
         status_ok = self._blocking_request(toggle_pin_request(pin_number))
@@ -134,19 +175,23 @@ class FarmbotClient(object):
 
     def _blocking_request(self, request, retries_remaining=3):
         if retries_remaining == 0:
-      logging.error("< blocking request [%s] OUT OF RETRIES", request) #尝试3次，然后在日志中记录错误
+            logging.error(
+                "< blocking request [%s] OUT OF RETRIES", request
+            )  # 尝试3次，然后在日志中记录错误
             return False
 
         self._wait_for_connection()  # 在哪定义的？
 
         # assign a new uuid for this attempt
         self.pending_uuid = str(uuid4())
-    request['args']['label'] = self.pending_uuid #接收move_request函数的json对象
+        request["args"]["label"] = self.pending_uuid  # 接收move_request函数的json对象
         logging.debug("> blocking request [%s] retries=%d", request, retries_remaining)
 
         # send request off 发送请求
         self.rpc_status = None
-    self.client.publish("bot/" + self.device_id + "/from_clients", json.dumps(request))
+        self.client.publish(
+            "bot/" + self.device_id + "/from_clients", json.dumps(request)
+        )
 
         # wait for response
         timeout_counter = 600  # ~1min 等待1s
@@ -159,12 +204,12 @@ class FarmbotClient(object):
         self.pending_uuid = None
 
         # if it's ok, we're done!
-    if self.rpc_status == 'rpc_ok':
+        if self.rpc_status == "rpc_ok":
             logging.debug("< blocking request OK [%s]", request)
             return True
 
         # if it's not ok, wait a bit and retry
-    if self.rpc_status == 'rpc_error':
+        if self.rpc_status == "rpc_error":
             logging.warn("< blocking request ERROR [%s]", request)
             time.sleep(1)
             return self._blocking_request(request, retries_remaining - 1)
@@ -174,7 +219,6 @@ class FarmbotClient(object):
         logging.error(msg)
         raise Exception(msg)
 
-
     def _wait_for_connection(self):
         # TODO: better way to do all this async event driven rather than with polling :/
         timeout_counter = 600  # ~1min
@@ -192,7 +236,10 @@ class FarmbotClient(object):
 
     def _on_message(self, client, userdata, msg):
         resp = json.loads(msg.payload.decode())
-    if resp['args']['label'] != 'ping':
+        if resp["args"]["label"] != "ping":
             logging.debug("> _on_message [%s] [%s]", msg.topic, resp)
-    if msg.topic.endswith("/from_device") and resp['args']['label'] == self.pending_uuid:
-      self.rpc_status = resp['kind']
+        if (
+            msg.topic.endswith("/from_device")
+            and resp["args"]["label"] == self.pending_uuid
+        ):
+            self.rpc_status = resp["kind"]