def take_snapshot()

in resources/drone_orbit.py [0:0]

• 16 lines of code
• 2 McCabe index (conditional complexity)

    def take_snapshot(self):
        if not os.path.exists(self.image_dir):
            os.makedirs(self.image_dir)

        # first hold our current position so drone doesn't try and keep flying while we take the picture.
        pos = self.client.getMultirotorState().kinematics_estimated.position
        self.client.moveToPositionAsync(pos.x_val, pos.y_val, self.z, 0.25, 3, airsim.DrivetrainType.MaxDegreeOfFreedom,
                                        airsim.YawMode(False, self.camera_heading))
        responses = self.client.simGetImages([airsim.ImageRequest(
            0, airsim.ImageType.Scene)])  # scene vision image in png format
        response = responses[0]
        filename = self.photo_prefix + \
            str(self.snapshot_index) + "_" + str(int(time.time()))
        self.snapshot_index += 1
        airsim.write_file(os.path.normpath(
            self.image_dir + filename + '.png'), response.image_data_uint8)
        print("Saved snapshot: {}".format(filename))
        # cause smooth ramp up to happen again after photo is taken.
        self.start_time = time.time()