Merge branch 'feature/observer-updates' into 'develop'

Observer example updates and API error handling

See merge request sdk/v4/convenience/raspberry-pi!74

Author: Angel Campos

getting_started/asyncio/api_and_shell/echo_with_rest_api.py

@@ -0,0 +1,74 @@
+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
+from sphero_sdk import ErrorCode
+
+
+loop = asyncio.get_event_loop()
+
+rvr = SpheroRvrAsync(
+    dal=SerialAsyncDal(
+        loop
+    )
+)
+
+
+async def main():
+    """ This sample uses the generate_api_error command to intentionally generate an error response from RVR
+        with the specified response code. Under normal circumstances certain commands request a response from RVR.
+        If an error response is detected then it can be handled by the SDK's response logic.  However, if a
+        command does not have expected output, and therefore doesn't request a response (e.g. drive_with_heading),
+        then RVR does not generate an error response if one occurs.  Setting the request_error_responses_only flag
+        on RVR will enable it to generate error responses even if no output is expected, and give a program the
+        ability to catch any of the following 10 error response codes:
+
+        Response Code 0x00: success
+        Response Code 0x01: bad_did
+        Response Code 0x02: bad_cid
+        Response Code 0x03: not_yet_implemented
+        Response Code 0x04: restricted
+        Response Code 0x05: bad_data_length
+        Response Code 0x06: failed
+        Response Code 0x07: bad_data_value
+        Response Code 0x08: busy
+        Response Code 0x09: bad_tid (bad target id)
+        Response Code 0x0A: target_unavailable
+
+        Note a response code of 0x00 indicates a successful command, and is therefore is not considered an error.
+    """
+
+    # Since the generate_api_error command doesn't expect any output, the enable_error_responses_only flag must
+    # be set True in order for RVR to generate an error.  This flag will remain true until otherwise specified,
+    # or when the program terminates.
+    rvr.request_error_responses_only = True
+
+    await rvr.generate_api_error(
+        error=ErrorCode.target_unavailable,  # Specify code 0x01 - 0x0A to receive that specific error response from RVR.
+        target=SpheroRvrTargets.secondary.value,
+        timeout=3
+    )
+
+    await rvr.close()
+
+
+if __name__ == '__main__':
+    try:
+        loop.run_until_complete(
+            main()
+        )
+
+    except KeyboardInterrupt:
+        print('\nProgram terminated with keyboard interrupt.')
+
+        loop.run_until_complete(
+            rvr.close()
+        )
+
+    finally:
+        if loop.is_running():
+            loop.close()

getting_started/asyncio/api_and_shell/generate_api_error.py

@@ -5,7 +5,6 @@
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
-from sphero_sdk import DriveFlagsBitmask
 from sphero_sdk import ControlSystemTypesEnum
 from sphero_sdk import ControlSystemIdsEnum
 
@@ -59,27 +58,27 @@ async def main():
     control_system_type = ControlSystemTypesEnum.control_system_type_stop
     response = await rvr.get_default_control_system_for_type(control_system_type = control_system_type)
     print(response)
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Default controller for {} is {}'.format(control_system_type.name, controller_id.name))
 
     control_system_type = ControlSystemTypesEnum.control_system_type_rc_drive
     response = await rvr.get_default_control_system_for_type(control_system_type = control_system_type)
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Default controller for {} is {}'.format(control_system_type.name, controller_id.name))
 
 
     # We are currently stopped. Get the currently active control system.
     print('Getting current control system...')
     response = await rvr.get_active_control_system_id()
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Active controller: {}'.format(controller_id.name))
 
 
     # Drive a bit with RC and check the active control system
     print('Driving with RC...')
     await rvr.drive_rc_si_units(linear_velocity=1, yaw_angular_velocity=0, flags=0 )
     response = await rvr.get_active_control_system_id()
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Active controller: {}'.format(controller_id.name))
 
     # Delay to allow RVR to drive
@@ -100,7 +99,7 @@ async def main():
     print('Driving with RC...')
     await rvr.drive_rc_si_units(linear_velocity=1, yaw_angular_velocity=0, flags=0 )
     response = await rvr.get_active_control_system_id()
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Active controller: {}'.format(controller_id.name))
 
     # Delay to allow RVR to drive
@@ -117,7 +116,7 @@ async def main():
     print('Driving with RC...')
     await rvr.drive_rc_si_units(linear_velocity=1, yaw_angular_velocity=0, flags=0 )
     response = await rvr.get_active_control_system_id()
-    controller_id = ControlSystemIdsEnum(response['controllerId'])
+    controller_id = ControlSystemIdsEnum(response['controller_id'])
     print('Active controller: {}'.format(controller_id.name))
 
     # Delay to allow RVR to drive

getting_started/asyncio/color_sensor/color_detection_with_rest_api.py

@@ -5,7 +5,6 @@
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
-from sphero_sdk import RawMotorModesEnum
 
 
 loop = asyncio.get_event_loop()
@@ -38,15 +37,15 @@ async def main():
     # Reset yaw
     await rvr.reset_yaw()
 
-    # Make sure that we're starting with the default timeout (2 seconds). This is 
+    # Make sure that we're starting with the default timeout (2 seconds). This is
     # redundant, unless the timeouts have already been adjusted since boot.
     await rvr.restore_default_control_system_timeout()
 
 
     print("Driving forward with the default 2 second timeout")
 
     await rvr.drive_rc_si_units(
-        linear_velocity=.3,     # Valid velocity values are in the range of [-1.555..1.555] m/s
+        linear_velocity=.3,     # Valid velocity values are in the range of [-2..2] m/s
         yaw_angular_velocity=0, # RVR will spin at up to 624 degrees/s.  Values outside of [-624..624] will saturate internally.
         flags=0
     )

getting_started/asyncio/driving/control_system_selection.py

@@ -36,49 +36,49 @@ async def main():
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.reverse.value,
-        right_speed=0 # Valid speed values are 0-255
+        right_duty_cycle=0 # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.reverse.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.forward.value,
-        left_speed=128,  # Valid speed values are 0-255
+        left_duty_cycle=128,  # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.forward.value,
-        right_speed=0  # Valid speed values are 0-255
+        right_duty_cycle=0  # Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors
     await asyncio.sleep(1)
 
     await rvr.raw_motors(
         left_mode=RawMotorModesEnum.off.value,
-        left_speed=128, # Valid speed values are 0-255
+        left_duty_cycle=128, # Valid duty cycle range is 0-255
         right_mode=RawMotorModesEnum.off.value,
-        right_speed=0# Valid speed values are 0-255
+        right_duty_cycle=0# Valid duty cycle range is 0-255
     )
 
     # Delay to allow RVR to spin motors

getting_started/asyncio/driving/control_system_timeouts.py

@@ -5,7 +5,6 @@
 import asyncio
 from sphero_sdk import SpheroRvrAsync
 from sphero_sdk import SerialAsyncDal
-from sphero_sdk import RawMotorModesEnum
 
 
 loop = asyncio.get_event_loop()
@@ -46,7 +45,7 @@ async def main():
     )
 
     # Delay to allow RVR to drive
-    await asyncio.sleep(1)
+    await asyncio.sleep(2)
 
     # Continue driving forward, while turning left
     await rvr.drive_rc_normalized(
@@ -55,9 +54,19 @@ async def main():
         flags=0
     )
 
-    # Delay to allow RVR to drive
+    # Delay to allow RVR to turn
     await asyncio.sleep(1)
 
+    # Drive in new forward direction
+    await rvr.drive_rc_normalized(
+        linear_velocity=20,  # Valid linear velocity values are -127..127
+        yaw_angular_velocity=0,  # Valid angular velocity values are -127..127
+        flags=0
+    )
+
+    # Delay to allow RVR to drive
+    await asyncio.sleep(2)
+
     print("sending stop command")
 
     # Stop driving, with deceleration rate of 2 m/s^2
@@ -71,11 +80,10 @@ async def main():
 
 if __name__ == '__main__':
     try:
-        asyncio.ensure_future(
+        loop.run_until_complete(
             main()
         )
-        loop.run_forever()
-
+        
     except KeyboardInterrupt:
         print('\nProgram terminated with keyboard interrupt.')