Merge pull request #13 from jupyter-robotics/dev

Improve error handling

Author: IsabelParedes

content/introduction.ipynb

@@ -1,7 +1,6 @@
 {
  "cells": [
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -14,7 +13,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%pip install ipynao==0.2"
+    "%pip install ipynao==0.3"
    ]
   },
   {
@@ -45,7 +44,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -64,7 +62,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -96,7 +93,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "tags": []
+   },
    "outputs": [],
    "source": [
     "tts.say(\"how is it going?\")"
@@ -125,7 +124,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -244,7 +242,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {
     "tags": []
@@ -267,7 +264,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -385,7 +381,6 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
@@ -425,18 +420,6 @@
     "async def little_dance():\n",
     "    await motion.async_wakeUp()\n",
     "    await animate.async_run(\"animations/Stand/Gestures/Hey_2\")\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/Enthusiastic_5\")\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/No_9\")\n",
-    "    await motion.async_moveTo(0, 0.2, 0)\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/Explain_9\")\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/You_4\")\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/Explain_11\")\n",
-    "    await motion.async_moveTo(0, -0.2, 0)\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/YouKnowWhat_6\")\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/No_8\")\n",
-    "    await posture.async_goToPosture(\"LyingBack\", 1.0)\n",
-    "    await posture.async_goToPosture(\"Stand\", 1.0)\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/BowShort_1\")\n",
     "    await motion.async_rest()"
    ]
   },
@@ -451,12 +434,37 @@
     "asyncio.ensure_future(little_dance())"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Error Handling"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "tags": []
+   },
    "outputs": [],
-   "source": []
+   "source": [
+    "w.disconnect()\n",
+    "w"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "tags": []
+   },
+   "outputs": [],
+   "source": [
+    "out = Output()\n",
+    "res = asyncio.ensure_future(w.service(\"ALLeds\", out).async_rasta(\"gibberish\"))\n",
+    "out"
+   ]
   }
  ],
  "metadata": {

ipynao/_frontend.py

@@ -9,4 +9,4 @@
 """
 
 module_name = "ipynao"
-module_version = "^0.2.0"
+module_version = "^0.3.0"

ipynao/nao_robot.py

@@ -4,78 +4,70 @@
 # Copyright (c) Isabel Paredes.
 # Distributed under the terms of the Modified BSD License.
 
-"""
+'''
 TODO: Add module docstring
-"""
+'''
 
-from ipywidgets import DOMWidget
+from ipywidgets import DOMWidget, Output
 from traitlets import Unicode, Integer
 from ._frontend import module_name, module_version
-from time import sleep
 import asyncio
 
 
-
 class NaoRobotService():
     name = None
     widget = None
     output = None
 
-    def __init__(self, widget, service_name):
+    def __init__(self, widget, service_name, output=Output()):
         self.name = service_name
         self.widget = widget
+        self.output = output
 
-    
-    def create_service_msg(self, method_name, *args, **kwargs):
+    def _create_msg(self, method_name, *args, **kwargs):
         data = {}
-        data["command"] = "callService"
-        data["service"] = str(self.name)
-        data["method"]  = str(method_name)
+        data['command'] = 'callService'
+        data['service'] = str(self.name)
+        data['method']  = str(method_name)
         # convert tuple to list to avoid empty arg values
-        data["args"]    = list(args)
-        data["kwargs"]  = kwargs
-
+        data['args']    = list(args)
+        data['kwargs']  = kwargs
+        return data
+    
+    def call_service(self, method_name, *args, **kwargs):
+        data = self._create_msg(method_name, *args, **kwargs)
         self.widget.send(data)
 
-    # TODO: combine msg creating into separate function
-    async def async_create_service_msg(self, method_name, *args, **kwargs):
-        data = {}
-        data["command"] = "callService"
-        data["service"] = str(self.name)
-        data["method"]  = str(method_name)
-        # convert tuple to list to avoid empty arg values
-        data["args"]    = list(args)
-        data["kwargs"]  = kwargs
-
+    async def async_call_service(self, method_name, *args, **kwargs):
+        data = self._create_msg(method_name, *args, **kwargs)
         self.widget.send(data)
 
         try:
-            await self.widget.wait_for_change('counter')
+            self.output.clear_output()
+            self.output.append_stdout('Calling service... \n')
+            await self.widget.wait_for_change('counter', self.output)
         except Exception as e:
             return e
-        return self.widget.response
+        return self.widget.response['data']
 
 
     def __getattr__(self, method_name):
-        # TODO: add error for when service is not ready
-        if (method_name[:6] == "async_"):
-            return lambda *x, **y: self.async_create_service_msg(method_name[6:], *x, **y)
+        if (method_name[:6] == 'async_'):
+            return lambda *x, **y: self.async_call_service(method_name[6:], *x, **y)
         else:
-            return lambda *x, **y: self.create_service_msg(method_name, *x, **y)
+            return lambda *x, **y: self.call_service(method_name, *x, **y)
 
 
 class NaoRobotWidget(DOMWidget):
-    """TODO: Add docstring here
-    """
     _model_name = Unicode('NaoRobotModel').tag(sync=True)
     _model_module = Unicode(module_name).tag(sync=True)
     _model_module_version = Unicode(module_version).tag(sync=True)
     _view_name = Unicode('NaoRobotView').tag(sync=True)
     _view_module = Unicode(module_name).tag(sync=True)
     _view_module_version = Unicode(module_version).tag(sync=True)
 
-    connected = Unicode("Disconnected").tag(sync=True)
-    status = Unicode("Not busy").tag(sync=True)
+    connected = Unicode('Disconnected').tag(sync=True)
+    status = Unicode('Not busy').tag(sync=True)
     counter = Integer(0).tag(sync=True)
     response = None
 
@@ -86,36 +78,47 @@ def __init__(self, **kwargs):
 
 
     def _handle_frontend_msg(self, model, msg, buffer):
-        print("Received frontend msg: ", msg)
+        print('Received frontend msg: ', msg)
         self.response = msg
 
 
-    def wait_for_change(widget, value_name):
+    def wait_for_change(widget, value_name, output=Output()):
         future = asyncio.Future()
         widget.response = None
 
         def get_value_change(change):
             widget.unobserve(get_value_change, names=value_name)
             if (widget.response != None):
-                future.set_result(widget.response)
+                if (widget.response['isError']):
+                    future.set_exception(Exception(widget.response['data']))
+                    output.append_stderr(widget.response['data'])
+                else:
+                    future.set_result(widget.response['data'])
+                    output.append_stdout(widget.response['data'])
             else:
                 future.set_result(change)    
 
         widget.observe(get_value_change, names=value_name)
         return future    
 
 
-    def connect(self, ip_address="nao.local", port="80"):      
+    def connect(self, ip_address='nao.local', port='80'):      
+        data = {}
+        data['command'] = str('connect')
+        data['ipAddress'] = str(ip_address)
+        data['port'] = str(port)
+        self.send(data)
+
+    
+    def disconnect(self):
         data = {}
-        data["command"] = str("connect")
-        data["ipAddress"] = str(ip_address)
-        data["port"] = str(port)
+        data['command'] = str('disconnect')
         self.send(data)
 
 
-    def service(self, service_name):
+    def service(self, service_name, output=Output()):
         data = {}
-        data["command"] = str("createService")
-        data["service"] = str(service_name)
+        data['command'] = str('createService')
+        data['service'] = str(service_name)
         self.send(data)
-        return NaoRobotService(self, service_name)
+        return NaoRobotService(self, service_name, output)

package.json

@@ -1,6 +1,6 @@
 {
   "name": "ipynao",
-  "version": "0.2.0",
+  "version": "0.3.0",
   "description": "A widget library for controlling Nao",
   "keywords": [
     "jupyter",

pyproject.toml

@@ -34,7 +34,7 @@ classifiers = [
 dependencies = [
     "ipywidgets>=7.0.0",
 ]
-version = "0.2.0"
+version = "0.3.0"
 
 [project.optional-dependencies]
 docs = [
@@ -104,7 +104,7 @@ file = [
 ]
 
 [tool.tbump.version]
-current = "0.2.0"
+current = "0.3.0"
 regex = "(?P<major>\\d+)\\.(?P<minor>\\d+)\\.(?P<patch>\\d+)((?P<channel>a|b|rc|.dev)(?P<release>\\d+))?"
 
 [tool.tbump.git]

requirements.txt

@@ -27,7 +27,7 @@ ipympl>=0.8.2
 ipycanvas>=0.9.1
 
 # Python: ipynao library for Nao robot
-ipynao>=0.2.0
+ipynao>=0.3.0
 
 # For examples with images
 Pillow

src/qimessaging.ts

@@ -73,6 +73,10 @@ export class QiSession {
     return connected;
   }
 
+  disconnect() {
+    this._socket.disconnect();
+  }
+
   onReply(data: any) {
     const idm = data['idm'];
     if (