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examples.iodevices diagnostics lint pybricks#1
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Fixed the first batch of lint errors
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@hwillemen
hwillemen committed Feb 24, 2023
1 parent 8377ac5 commit ec78713
Showing 1 changed file with 44 additions and 39 deletions.
83 changes: 44 additions & 39 deletions examples/pup/iodevices_pupdevice/diagnostics.py
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Original file line number Diff line number Diff line change
@@ -1,14 +1,15 @@
from pybricks.geometry import Axis
from pybricks.iodevices import PUPDevice
from pybricks.pupdevices import *
from pybricks.parameters import Port, Button, Color
from pybricks.parameters import Port, Button, Color # if needed: Side
from pybricks.tools import wait, StopWatch
from uerrno import ENODEV, ETIMEDOUT

# 1: Determine the type of hub
# -------------------------------------------------------------------
# For Hubs with IMU: how is it mounted?
# https://docs.pybricks.com/en/latest/geometry.html#fig-imuexamples
# How is hub with IMU mounted: https://docs.pybricks.com/en/latest/geometry.html#fig-imuexamples


def HubInit(mounted_top=Axis.Z, mounted_front=Axis.X):
# Returns (str hub_object, dict hub_info)
hub = None
Expand All @@ -31,7 +32,7 @@ def HubInit(mounted_top=Axis.Z, mounted_front=Axis.X):
hub_info.update(hub_type="TechnicHub")
except ImportError:
pass
try: # InventorHub is the same as PrimeHub, so treat the same.
try: # InventorHub is the same as PrimeHub, so treat the same.
from pybricks.hubs import PrimeHub
hub = PrimeHub(top_side=mounted_top, front_side=mounted_front)
hub_info.update(hub_type="PrimeHub")
Expand All @@ -47,24 +48,23 @@ def HubInit(mounted_top=Axis.Z, mounted_front=Axis.X):
if hub is None:
raise Exception("No valid Hub found")

print("Hub:\n Name:\t", hub.system.name(),":",hub_info['hub_type'])
print("Hub:\n Name:\t", hub.system.name(), ":", hub_info['hub_type'])
print(" Reset reason: ", hub.system.reset_reason())
print(" voltage: ", hub.battery.voltage(), "mV")
print(" current: ", hub.battery.current(), "mA")

# Check for IMU and Matrix dislay:
try: # to init IMU
from pybricks.parameters import Side
try: # to init IMU
hub_info.update(init_position=hub.imu.up())
print(" facing: ", hub_info['init_position'])
hub_info.update(has_imu=True)
except AttributeError:
hub_info.update(has_imu=False)
pass
try: # to init Matrix
try: # to init Matrix
from pybricks.parameters import Icon
hub.display.icon(Icon.UP / 2)
hub.display.orientation(up_side)
hub.display.orientation(hub_info['init_position'])
print(" with display matrix.")
hub_info.update(has_matrix=True)
except ImportError or AttributeError:
Expand All @@ -76,6 +76,9 @@ def HubInit(mounted_top=Axis.Z, mounted_front=Axis.X):
# 2: Diagnose connected devices
# -------------------------------------------------------------------
# Dictionary of device identifiers along with their name.
# Also check https://github.com/pybricks/technical-info/blob/master/assigned-numbers.md#io-device-type-ids


device_names = {
# pybricks.pupdevices.DCMotor
1: "Wedo 2.0 Medium Motor",
Expand Down Expand Up @@ -109,9 +112,9 @@ def HubInit(mounted_top=Axis.Z, mounted_front=Axis.X):

def ConnectToDevice(port):
# Returns a device dict()
device = {'type':None, 'id':None, 'name':None, 'object':None}
device = {'type': None, 'id': None, 'name': None, 'object': None}

try: # to get the device, if it is attached.
try: # to get the device, if it is attached.
pupdev = PUPDevice(port)
except OSError as ex:
if ex.args[0] == ENODEV:
Expand All @@ -122,7 +125,7 @@ def ConnectToDevice(port):
# Get the device id
temp_info = pupdev.info()
device['id'] = temp_info["id"]
try: # to look up the name.
try: # to look up the name.
device['name'] = device_names[device['id']]
except KeyError:
device['name'] = "Unknown"
Expand All @@ -132,19 +135,19 @@ def ConnectToDevice(port):

# Initiate object and type
xid = device['id']
if xid in (1,2):
if xid in (1, 2):
try:
device['object'] = DCMotor(port)
device['type'] = "DCMotor"
except OSError as err:
print("DCMotor could not be initiated: ", err)
device['type'] = "Custom"
pass
elif xid in (46,47,48,49,75,76):
elif xid in (38, 46, 47, 48, 49, 65, 75, 76):
try:
device['object'] = Motor(port, positive_direction=Direction.CLOCKWISE, gears=None)
device['type'] = "Motor"
except:
except OSError as err:
print("Motor could not be initiated: ", err)
device['type'] = "Custom"
pass
Expand All @@ -153,65 +156,65 @@ def ConnectToDevice(port):
device['object'] = Light(port)
device['object'].on(brightness=50)
device['type'] = "Light"
except:
except OSError as err:
print("Light could not be initiated: ", err)
device['type'] = "Custom"
pass
elif xid is None: #ToDo
elif xid is None: #ToDo
try:
device['object'] = ColorLightMatrix(port)
device['type'] = "Matrix3x3"
except:
except OSError as err:
print("Matrix could not be initiated: ", err)
device['type'] = "Custom"
pass
elif xid in (34,35,37,61,62,63):
elif xid in (34, 35, 37, 61, 62, 63):
device['type'] = "Sensor"
if xid is 34:
try:
device['object'] = TiltSensor(port)
device['type'] += "/Tilt"
except:
except OSError as err:
print("TiltSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
elif xid is 35:
try:
device['object'] = InfraredSensor(port)
device['type'] += "/IR/Distance"
except:
except OSError as err:
print("InfraredSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
elif xid is 37:
try:
device['object'] = ColorDistanceSensor(port)
device['type'] += "/Distance/Color/Light"
except:
except OSError as err:
print("ColorDistanceSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
elif xid is 61:
try:
device['object'] = ColorSensor(port)
device['type'] += "/Color/Light"
except:
except OSError as err:
print("ColorSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
elif xid is 62:
try:
device['object'] = UltrasonicSensor(port)
device['type'] += "/Distance/Light"
except:
except OSError as err:
print("UltrasonicSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
elif xid is 63:
try:
device['object'] = ForceSensor(port)
device['type'] += "/Force/Distance/Press"
except:
except OSError as err:
print("ForceSensor could not be initiated: ", err)
device['type'] += "/Custom"
pass
Expand All @@ -225,12 +228,12 @@ def ConnectToDevice(port):

# Make a list of known ports.
ports = [Port.A, Port.B]
try: # to add more ports, on hubs that support it.
try: # to add more ports, on hubs that support it.
ports.append(Port.C)
ports.append(Port.D)
except AttributeError:
pass
try: # to add more ports, on hubs that support it.
try: # to add more ports, on hubs that support it.
ports.append(Port.E)
ports.append(Port.F)
except AttributeError:
Expand All @@ -239,8 +242,8 @@ def ConnectToDevice(port):
# 3: Remote buttons check and remote init
# -------------------------------------------------------------------
remote = None
ch1_val = 0 # +/-100%, scale if needed
ch2_val = 0 # +100%, scale if needed
ch1_val = 0 # +/-100%, scale if needed
ch2_val = 0 # +100%, scale if needed

def ConnectRemote():
global remote
Expand All @@ -256,17 +259,17 @@ def ServiceRemote():
global remote

if remote is None:
return (ch1_val,ch2_val)
return (ch1_val, ch2_val)
try:
pressed = remote.buttons.pressed()
except OSError as ex:
if not ex.errno == ENODEV:
raise
print("Lost remote")
remote = None # empty handle
return (ch1_val,ch2_val)
remote = None # empty handle
return (ch1_val, ch2_val)
if len(pressed) is 0:
return (ch1_val,ch2_val)
return (ch1_val, ch2_val)
#print(pressed)

ch1_val_new = ch1_val
Expand Down Expand Up @@ -295,14 +298,14 @@ def ServiceRemote():
if Button.RIGHT in pressed:
ch2_val_new = 0

return (ch1_val_new,ch2_val_new)
return (ch1_val_new, ch2_val_new)


# 4: Main / Monitor changes
# -------------------------------------------------------------------
DIAGNOSTICS_PERIOD = 5000 # 5s
sys_tick = StopWatch()
(hub,hub_info) = HubInit()
(hub, hub_info) = HubInit()
print(hub_info)
pressed = ()

Expand All @@ -319,7 +322,7 @@ def ServiceRemote():
if dev['type'] is None:
print(port, ": ---")
else:
print(port,dev['id'],":",dev['name'],":",dev['type'])
print(port,dev['id'], ":", dev['name'], ":", dev['type'])
devices.append(dev)

ConnectRemote()
Expand All @@ -339,6 +342,8 @@ def ServiceRemote():
print("Hub voltage: ", hub.battery.voltage(), "mV")
print("Hub current: ", hub.battery.current(), "mA")
for device in devices:
if "DCMotor" or "Motor" in device['type']:
device['object'].dc(ch1_val)
if "Tilt" in device['type']:
tilt = device['object'].tilt()
if "Distance" in device['type']:
Expand All @@ -347,13 +352,13 @@ def ServiceRemote():
color = device['object'].color()
if "Force" in device['type']:
force = device['object'].force()
print("T:",tilt,"D:",distance,"C:",color,"F:",force)
print("T:", tilt, "D:", distance, "C:", color, "F:", force)

# do not set values blindly to not interfere with other code:
(ch1_val_new,ch2_val_new) = ServiceRemote()
if ch1_val_new is not ch1_val:
ch1_val = ch1_val_new
print("Channel 1 changed:",ch1_val)
print("Channel 1 changed:", ch1_val)
if ch2_val_new is not ch2_val:
ch2_val = ch2_val_new
print("Channel 2 changed:",ch2_val)
print("Channel 2 changed:", ch2_val)

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