Merge branch 'angel/streaming-control-refactor' into 'develop'

Streaming control refactor to stay consistent with node.js interface

See merge request sdk/v4/convenience/raspberry-pi!53

Author: Anthony Vizcarra

getting_started/asyncio/api_and_shell/echo.py

@@ -1,10 +1,8 @@
-import asyncio
 import os
 import sys
-
-
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
+import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
 from sphero_sdk import SpheroRvrTargets
@@ -26,14 +24,20 @@ async def main():
 
     await rvr.wake()
 
-    # give RVR time to wake up
+    # Give RVR time to wake up
     await asyncio.sleep(2)
 
     echo_response = await rvr.echo(
-        data=[0, 2, 4, 8, 16, 32, 64, 128, 255],
+        data=[0, 1, 2],
         target=SpheroRvrTargets.primary.value
     )
-    print('Echo response: ', echo_response)
+    print('Echo response 1: ', echo_response)
+
+    echo_response = await rvr.echo(
+        data=[4, 5, 6],
+        target=SpheroRvrTargets.secondary.value
+    )
+    print('Echo response 2: ', echo_response)
 
     await rvr.close()
 
@@ -45,12 +49,12 @@ async def main():
         )
 
     except KeyboardInterrupt:
-        print('Program terminated with keyboard interrupt.')
+        print('\nProgram terminated with keyboard interrupt.')
 
-    finally:
         loop.run_until_complete(
             rvr.close()
         )
 
+    finally:
         if loop.is_running():
             loop.close()

getting_started/asyncio/api_and_shell/echo_with_rest_api.py

@@ -1,41 +1,48 @@
-import sys
 import os
+import sys
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import RestfulAsyncDal
-from sphero_sdk.common.log_level import LogLevel
+from sphero_sdk import SpheroRvrTargets
+
 
 loop = asyncio.get_event_loop()
 
 rvr = SpheroRvrAsync(
     dal=RestfulAsyncDal(
-        prefix="RV",  # RVR's prefix is RV
-        domain="10.211.2.21",  # Add your raspberry-pi's IP address here
+        domain='10.211.2.21',  # Add your raspberry-pi's IP address here
         port=2010  # The port opened by the npm server is always 2010
-    ),
-    log_level=LogLevel.Debug_Verbose
+    )
 )
 
 
 async def main():
+    """ This program demonstrates how to use the echo command, which sends data to RVR and has RVR returns
+        the same data. Echo can be used to check to see if RVR is connected and awake.  In order to test it,
+        a node.js server must be running on the raspberry-pi connected to RVR.  This code is meant to be
+        executed from a separate computer.
     """
-    This program demonstrates how to use the echo command, which sends data to RVR and has RVR returns
-    the same data. Echo can be used to check to see if RVR is connected and awake.  In order to test it,
-    a node.js server must be running on the raspberry-pi connected to RVR.  This code is meant to be
-    executed from a separate computer.
 
-    """
-    response = await rvr.echo([1], target=2)
-    print(response)
+    await rvr.wake()
 
-    await asyncio.sleep(1)
+    # Give RVR time to wake up
+    await asyncio.sleep(2)
 
-    response = await rvr.echo([2], target=2)
-    print(response)
+    echo_response = await rvr.echo(
+        data=[0, 1, 2],
+        target=SpheroRvrTargets.primary.value
+    )
+    print('Echo response 1: ', echo_response)
 
-    await asyncio.sleep(1)
+    echo_response = await rvr.echo(
+        data=[4, 5, 6],
+        target=SpheroRvrTargets.secondary.value
+    )
+    print('Echo response 2: ', echo_response)
+
+    await rvr.close()
 
 
 if __name__ == '__main__':
@@ -45,12 +52,12 @@ async def main():
         )
 
     except KeyboardInterrupt:
-        print('Program terminated with keyboard interrupt.')
+        print('\nProgram terminated with keyboard interrupt.')
 
-    finally:
         loop.run_until_complete(
             rvr.close()
         )
 
+    finally:
         if loop.is_running():
             loop.close()

getting_started/asyncio/color_sensor/color_detection.py

@@ -1,12 +1,11 @@
-import asyncio
 import os
 import sys
-
-
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
+import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
+from sphero_sdk import RvrStreamingServices
 
 
 loop = asyncio.get_event_loop()
@@ -18,8 +17,8 @@
 )
 
 
-async def sensor_data_handler(sensor_data):
-    print('Sensor data response: ', sensor_data)
+async def color_detected_handler(color_detected_data):
+    print('Color detection data response: ', color_detected_data)
 
 
 async def main():
@@ -29,27 +28,37 @@ async def main():
 
     await rvr.wake()
 
-    # give RVR time to wake up
+    # Give RVR time to wake up
     await asyncio.sleep(2)
 
     await rvr.enable_color_detection(is_enabled=True)
-    await rvr.sensor_control.add_sensor_data_handler(handler=sensor_data_handler)
-    await rvr.sensor_control.enable('ColorDetection')       # TODO: is there a constant available for this?
+    await rvr.sensor_control.add_sensor_data_handler(
+        service=RvrStreamingServices.color_detection,
+        handler=color_detected_handler
+    )
+    await rvr.sensor_control.start(interval=250)
+
+    while True:
+        await asyncio.sleep(1)
 
 
 if __name__ == '__main__':
     try:
-        loop.run_until_complete(
+        asyncio.ensure_future(
             main()
         )
+        loop.run_forever()
 
     except KeyboardInterrupt:
-        print('Program terminated with keyboard interrupt.')
+        print('\nProgram terminated with keyboard interrupt.')
 
-    finally:
         loop.run_until_complete(
-            rvr.close()
+            asyncio.gather(
+                rvr.enable_color_detection(is_enabled=False),
+                rvr.close()
+            )
         )
 
+    finally:
         if loop.is_running():
             loop.close()

getting_started/asyncio/color_sensor/color_detection_with_rest_api.py

@@ -1,61 +1,65 @@
-import sys
 import os
+import sys
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import RestfulAsyncDal
+from sphero_sdk import RvrStreamingServices
+
 
 loop = asyncio.get_event_loop()
 
 rvr = SpheroRvrAsync(
     dal=RestfulAsyncDal(
-        prefix="RV",  # RVR's prefix is RV
-        domain="10.211.2.21",  # Add your raspberry-pi's IP address here
+        domain='10.211.2.21',  # Add your raspberry-pi's IP address here
         port=2010  # The port opened by the npm server is always 2010
     )
 )
 
 
-
-async def on_color_detected(response):
-    print('Response data for color detected:',response)
+async def color_detected_handler(color_detected_data):
+    print('Color detection data response: ', color_detected_data)
 
 
 async def main():
     """ This program uses the color sensor on RVR (located on the down side of RVR, facing the floor) to report colors detected.
         To exit program, press <CTRL-C>
-
     """
-    # Wake up RVR
+
     await rvr.wake()
 
     # Give RVR time to wake up
-    await asyncio.sleep(1)
+    await asyncio.sleep(2)
 
-    # This enables the color sensor on RVR
     await rvr.enable_color_detection(is_enabled=True)
+    await rvr.sensor_control.add_sensor_data_handler(
+        service=RvrStreamingServices.color_detection,
+        handler=color_detected_handler
+    )
+    await rvr.sensor_control.start(interval=250)
 
-    # Register a handler to be called when a color detection notification is received
-    await rvr.sensor_control.add_sensor_data_handler(on_color_detected)
-
-    # Enable the color detection sensor stream
-    await rvr.sensor_control.enable("ColorDetection")
+    while True:
+        await asyncio.sleep(1)
 
 
 if __name__ == '__main__':
     try:
-        loop.run_until_complete(
+        asyncio.ensure_future(
             main()
         )
+        loop.run_forever()
 
     except KeyboardInterrupt:
-        print('Program terminated with keyboard interrupt.')
+        print('\nProgram terminated with keyboard interrupt.')
 
-    finally:
         loop.run_until_complete(
-            rvr.close()
+            asyncio.gather(
+                rvr.enable_color_detection(is_enabled=False),
+                rvr.close()
+            )
         )
 
+    finally:
         if loop.is_running():
             loop.close()

getting_started/asyncio/driving/drive_raw_motors.py

@@ -1,10 +1,8 @@
-import asyncio
 import os
 import sys
-
-
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../../../')))
 
+import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
 from sphero_sdk import RawMotorModesEnum
@@ -25,59 +23,59 @@ async def main():
 
     await rvr.wake()
 
-    # give RVR time to wake up
+    # Give RVR time to wake up
     await asyncio.sleep(2)
 
     await rvr.reset_yaw()
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,
+        left_speed=128,  # Valid speed values are 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=128
+        right_speed=128  # Valid speed values are 0-255
     )
 
-    # delay to allow RVR to drive
+    # Delay to allow RVR to drive
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=64,
+        left_speed=64,  # Valid speed values are 0-255
         right_mode=RawMotorModesEnum.reverse.value,
-        right_speed=64
+        right_speed=64  # Valid speed values are 0-255
     )
 
-    # delay to allow RVR to drive
+    # Delay to allow RVR to drive
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=128,
+        left_speed=128,  # Valid speed values are 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=128
+        right_speed=128  # Valid speed values are 0-255
     )
 
-    # delay to allow RVR to drive
+    # Delay to allow RVR to drive
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,
+        left_speed=128,  # Valid speed values are 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=128
+        right_speed=128  # Valid speed values are 0-255
     )
 
-    # delay to allow RVR to drive
+    # Delay to allow RVR to drive
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.off.value,
-        left_speed=0,
+        left_speed=0,  # Valid speed values are 0-255
         right_mode=RawMotorModesEnum.off.value,
-        right_speed=0
+        right_speed=0  # Valid speed values are 0-255
     )
 
-    # delay to allow RVR to drive
+    # Delay to allow RVR to drive
     await asyncio.sleep(1)
 
     await rvr.close()
@@ -90,12 +88,12 @@ async def main():
         )
 
     except KeyboardInterrupt:
-        print('Program terminated with keyboard interrupt.')
+        print('\nProgram terminated with keyboard interrupt.')
 
-    finally:
         loop.run_until_complete(
             rvr.close()
         )
 
+    finally:
         if loop.is_running():
             loop.close()