From c707d1181480fb8673840099e2eca76c7f079110 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <eknapp@amazon.com>
Date: Mon, 22 Mar 2021 14:38:32 -0700
Subject: [PATCH] Use format strings for topic endpoint info printing

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
---
 rclpy/rclpy/duration.py             |  2 +-
 rclpy/rclpy/topic_endpoint_info.py  | 29 +++++++++++++++--------------
 rclpy/src/rclpy/_rclpy_pybind11.cpp |  1 -
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/rclpy/rclpy/duration.py b/rclpy/rclpy/duration.py
index a9a2e3991..50ef7f9cd 100644
--- a/rclpy/rclpy/duration.py
+++ b/rclpy/rclpy/duration.py
@@ -84,7 +84,7 @@ def from_msg(cls, msg):
 
     @classmethod
     def Infinite(cls):
-        return cls(nanoseconds=_rclpy.rclpy_RMW_DURATION_INFINITE)
+        return cls(nanoseconds=_rclpy.RMW_DURATION_INFINITE)
 
     def get_c_duration(self):
         return self._duration_handle
diff --git a/rclpy/rclpy/topic_endpoint_info.py b/rclpy/rclpy/topic_endpoint_info.py
index 408f43965..7569a926d 100644
--- a/rclpy/rclpy/topic_endpoint_info.py
+++ b/rclpy/rclpy/topic_endpoint_info.py
@@ -158,17 +158,18 @@ def __eq__(self, other):
             for slot in self.__slots__)
 
     def __str__(self):
-        result = 'Node name: %s\n' % self.node_name
-        result += 'Node namespace: %s\n' % self.node_namespace
-        result += 'Topic type: %s\n' % self.topic_type
-        result += 'Endpoint type: %s\n' % self.endpoint_type.name
-        result += 'GID: %s\n' % '.'.join(format(x, '02x') for x in self.endpoint_gid)
-        result += 'QoS profile:\n'
-        result += '  Reliability: %s\n' % self.qos_profile.reliability.name
-        result += '  Durability: %s\n' % self.qos_profile.durability.name
-        result += '  Lifespan: %s\n' % str(self.qos_profile.lifespan)
-        result += '  Deadline: %s\n' % str(self.qos_profile.deadline)
-        result += '  Liveliness: %s\n' % self.qos_profile.liveliness.name
-        result += '  Liveliness lease duration: %s' % \
-            str(self.qos_profile.liveliness_lease_duration)
-        return result
+        gid = '.'.join(format(x, '02x') for x in self.endpoint_gid)
+        return '\n'.join([
+            f'Node name: {self.node_name}',
+            f'Node namespace: {self.node_namespace}',
+            f'Topic type: {self.topic_type}',
+            f'Endpoint type: {self.endpoint_type.name}',
+            f'GID: {gid}',
+            'QoS profile:',
+            f'  Reliability: {self.qos_profile.reliability.name}',
+            f'  Durability: {self.qos_profile.durability.name}',
+            f'  Lifespan: {self.qos_profile.lifespan}',
+            f'  Deadline: {self.qos_profile.deadline}',
+            f'  Liveliness: {self.qos_profile.liveliness.name}',
+            f'  Liveliness lease duration: {self.qos_profile.liveliness_lease_duration}',
+        ])
diff --git a/rclpy/src/rclpy/_rclpy_pybind11.cpp b/rclpy/src/rclpy/_rclpy_pybind11.cpp
index af6fa6aea..01df8143c 100644
--- a/rclpy/src/rclpy/_rclpy_pybind11.cpp
+++ b/rclpy/src/rclpy/_rclpy_pybind11.cpp
@@ -86,7 +86,6 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   .def_readonly("compatibility", &rclpy::QoSCheckCompatibleResult::compatibility)
   .def_readonly("reason", &rclpy::QoSCheckCompatibleResult::reason);
 
-
   py::register_exception<rclpy::RCUtilsError>(m, "RCUtilsError", PyExc_RuntimeError);
   py::register_exception<rclpy::RMWError>(m, "RMWError", PyExc_RuntimeError);
   auto rclerror = py::register_exception<rclpy::RCLError>(m, "RCLError", PyExc_RuntimeError);