Refactor APIs and test cases

Author: JeongJun-Lee

README.md

@@ -4,10 +4,10 @@
 Part of the RoboticsWare project - https://roboticsware.uz
 Copyright (C) 2022 RoboticsWare (neopia.uz@google.com)
 
-Currently only NEO SoCo support
+Currently support NEO SoCo only
 
 ## Installation
-``pip install -U neopia`` should work for most users.
+``pip install -U neopia``
 
 ## API documentation
 Refer to the [Wiki](https://github.com/roboticsware/pylib_neobot/wiki/List-of-APIs)

neopia/neosoco.py

@@ -39,37 +39,18 @@ class Neosoco(Robot):
     RIGHT_MOTOR = 0x00400009
     NOTE        = 0x0040000a
 
-    LED_OFF = 0
-    LED_BLUE = 1
-    LED_GREEN = 2
-    LED_CYAN = 3
-    LED_SKY_BLUE = 3
-    LED_RED = 4
-    LED_MAGENTA = 5
-    LED_PURPLE = 5
-    LED_YELLOW = 6
-    LED_WHITE = 7
-
-    COLOR_NAME_OFF = "off"
+    COLOR_NAME_WHITE = "white"
     COLOR_NAME_RED = "red"
     COLOR_NAME_YELLOW = "yellow"
     COLOR_NAME_GREEN = "green"
-    COLOR_NAME_SKY_BLUE = "sky blue"
     COLOR_NAME_BLUE = "blue"
-    COLOR_NAME_PURPLE = "purple"
-    COLOR_NAME_WHITE = "white"
 
     _COLORS = {
-        "off": LED_OFF,
-        "red": LED_RED,
-        "yellow": LED_YELLOW,
-        "green": LED_GREEN,
-        "sky_blue": LED_CYAN,
-        "skyblue": LED_CYAN,
-        "sky blue": LED_CYAN,
-        "blue": LED_BLUE,
-        "purple": LED_MAGENTA,
-        "white": LED_WHITE
+        "white": COLOR_NAME_WHITE,
+        "red": COLOR_NAME_RED,
+        "yellow": COLOR_NAME_YELLOW,
+        "green": COLOR_NAME_GREEN,
+        "blue": COLOR_NAME_BLUE
     }
 
     _NOTE_OFF = 0
@@ -374,6 +355,9 @@ def _notify_motoring_device_data_changed(self):
 
     def set_value(self, port='out1', value=255):
         if isinstance(port, str) and isinstance(value, int):
+            if value < 0 or value > 255:
+                raise ValueError('Wrong value of input value')
+                
             if port.lower() =='out1':
                 self.write(Neosoco.OUTPUT_1, Util.round(value)) 
             elif port.lower() =='out2':
@@ -493,6 +477,20 @@ def check_color(self, port='in1', color='white'):
         else:
             raise TypeError
 
+    def _write_to_output_port(self, port, out_val):
+        if port.lower() == 'out1':
+            self.write(Neosoco.OUTPUT_1, out_val)
+        elif port.lower() == 'out2':
+            self.write(Neosoco.OUTPUT_2, out_val)
+        elif port.lower() == 'out3':
+            self.write(Neosoco.OUTPUT_3, out_val)
+        elif port.lower() == 'all':
+            self.write(Neosoco.OUTPUT_1, out_val)
+            self.write(Neosoco.OUTPUT_2, out_val)
+            self.write(Neosoco.OUTPUT_3, out_val)
+        else:
+            raise ValueError('Wrong value of out port')
+
     def led_on(self, port='out1', brightness='100'):
         percent_cvt = {
             '100': 255,
@@ -510,43 +508,22 @@ def led_on(self, port='out1', brightness='100'):
             cvt_val = percent_cvt[brightness]
         else:
             raise ValueError('Wrong value of percentage')
+
         if isinstance(port, str):
-            if port.lower() =='out1':
-                self.write(Neosoco.OUTPUT_1, cvt_val) 
-            elif port.lower() =='out2':
-                self.write(Neosoco.OUTPUT_2, cvt_val) 
-            elif port.lower() =='out3':
-                self.write(Neosoco.OUTPUT_3, cvt_val) 
-            elif port.lower() =='all':
-                self.write(Neosoco.OUTPUT_1, cvt_val) 
-                self.write(Neosoco.OUTPUT_2, cvt_val) 
-                self.write(Neosoco.OUTPUT_3, cvt_val)
-            else:
-                raise ValueError('Wrong value of port')
+            self._write_to_output_port(port, cvt_val)
         else:
             raise TypeError
 
     def led_by_port(self, in_port='in1', out_port='out1'):
-        if isinstance(out_port, str):
+        if isinstance(in_port and out_port, str):
             in_value = self._convert_scale_from_input_port(in_port, 255)
             self._write_to_output_port(out_port, in_value)
         else:
             raise TypeError 
 
     def led_off(self, port='out1'):
         if isinstance(port, str):
-            if port.lower() =='out1':
-                self.write(Neosoco.OUTPUT_1, 0) 
-            elif port.lower() =='out2':
-                self.write(Neosoco.OUTPUT_2, 0) 
-            elif port.lower() =='out3':
-                self.write(Neosoco.OUTPUT_3, 0) 
-            elif port.lower() =='all':
-                self.write(Neosoco.OUTPUT_1, 0) 
-                self.write(Neosoco.OUTPUT_2, 0) 
-                self.write(Neosoco.OUTPUT_3, 0)
-            else:
-                raise ValueError('Wrong value of port')
+            self._write_to_output_port(port, 0)
         else:
             raise TypeError
 
@@ -647,20 +624,6 @@ def motor_rotate(self, motor='both', direction='forward', speed='100'):
         else:
             raise TypeError
 
-    def _write_to_output_port(self, port, out_val):
-        if port.lower() == 'out1':
-            self.write(Neosoco.OUTPUT_1, out_val)
-        elif port.lower() == 'out2':
-            self.write(Neosoco.OUTPUT_2, out_val)
-        elif port.lower() == 'out3':
-            self.write(Neosoco.OUTPUT_3, out_val)
-        elif port.lower() == 'all':
-            self.write(Neosoco.OUTPUT_1, out_val)
-            self.write(Neosoco.OUTPUT_2, out_val)
-            self.write(Neosoco.OUTPUT_3, out_val)
-        else:
-            raise ValueError('Wrong value of out port')
-
     def servo_rotate(self, port='out1', direction='forward', speed='100'):
         if isinstance(port, str) and isinstance(direction, str) and isinstance(speed, str):
             if speed == 'in1' or speed == 'in2' or speed == 'in3' :
@@ -789,7 +752,6 @@ def buzzer_by_port(self, port='in1'):
             value = self._convert_scale_from_input_port(port, 65)
             self.write(Neosoco.NOTE, value)
         else:
-
             raise TypeError
 
     def buzzer_stop(self):

test.py

@@ -11,6 +11,7 @@
 # n.set_value('out1', 255)
 # wait(1000)
 
+
 ## LED, distance sensor
 # case3) Turn on LED when the distance is under 10cm
 # while True:
@@ -19,15 +20,20 @@
 #   else:
 #     n.led_off('out1')
 
+# case4) Control LED's brightness with sensor
+# while True:
+#     n.led_by_port('in1', 'out1')
+
+
 ## Motors
-# case4) Move forth and back during 1s and stop
+# case5) Move forth and back during 1s and stop
 # n.motor_move('forward')
 # wait(500)
 # n.motor_move('backward')
 # wait(500)
 # n.motor_move('stop')
 
-# case5) Moving control by direction keys on the keyboard
+# case6) Moving control by direction keys on the keyboard
 # while True:
 #   key = Keyboard.read()
 
@@ -42,15 +48,16 @@
 #   elif key == ' ':
 #     n.motor_move('stop')
 
-# case6) Move forth and back with speed 30% during 1s and stop
+# case7) Move forth and back with speed 30% during 1s and stop
 # n.motor_rotate('both', 'forward', '30')
 # wait(500)
 # n.motor_rotate('both', 'backward', '30')
 # wait(500)
 # n.motor_stop('both')
 
-## Buzzer
-# case7) Play same note by pitch, sharp and flat, and a length of note
+
+## Buzzer, Distance sensor
+# case8) Play same note by pitch, sharp and flat, and a length of note
 # n.buzzer('3', n.NOTE_NAME_C)
 # n.buzzer('3', 'c')
 
@@ -60,14 +67,13 @@
 # n.buzzer('5', n.NOTE_NAME_D_FLAT, '16')
 # n.buzzer('5', 'db', '16')
 
-# case8) Play a sound by value from input port
+# case9) Play a sound by value from input port and Turn off buzzer if the distance is under 10cm
 # while True:
-#   n.buzzer_by_port('in1')
-  
-## Color LED, distance sensor
-# case9) Color LED on with variable color by input port
-# r = g = b = n.convert_scale('in1', 0, 255, 85, 170) # Limit to middle brightness
-# color_led_on('out1', r, g, b)
+#   if n.get_value('in1') < 10:
+#     n.buzzer_stop()
+#   else:
+#     n.buzzer_by_port('in1')
+
 
 ## LED, Angle sensor
 # case10) # Turn on LED when a degree of the angle sensor is under 90 degrees
@@ -77,6 +83,7 @@
 #   else:
 #     n.led_off('out1')
 
+
 # Servo Motor
 # case 11) Rotate servo motor forth and back with speed 50% during 5s and stop
 # n.servo_rotate('out2', 'forward', '50')
@@ -85,47 +92,30 @@
 # wait(1000)
 # n.servo_rotate('out2', 'backward', '50')
 # wait(2000)
-# n.servo_rotate('out2', 'forward', '0')
+# n.servo_stop('out2')
 # wait(1000)
 
 # case 12) Rotate servo motor forward by 120 degrees at 50% speed within 3 seconds
 # n.servo_reset_degree('out1')
 # n.servo_rotate_by_degree('out1', 'forward', '50', '120')
 # wait(3000)
 
-# case 13) When the 1 button of remote controller is pressed, turn on the LED
-while True:
-  if n.remote_button('1'):
-    n.led_on() # By default value
-  else:
-    n.led_off()
 
-# case 14) Control LED's brightness with sensor
+## Remote Controller
+# case 13) When the 1 button of remote controller is pressed, turn on the LED
 # while True:
-#     n.led_by_port('out1', 'in1')
+#   if n.remote_button('1'):
+#     n.led_on() # By default value
+#   else:
+#     n.led_off()
 
-# case 15) Turn off buzzer when the distance is under 10cm
-# while True:
-  # if n.get_value('in1') < 10:
-  #   n.buzzer_stop()
-  # else:
-  #   n.buzzer('2', 'c', '4')
 
-# case 16) Turn off servo motor when the distance is under 10cm
-# while True:
-  # if n.get_value('in1') < 10:
-  #   n.servo_stop('out1')
-  # else:
-  #   n.servo_rotate('out2', 'forward', '50')
-  #   wait(2000)
-  #   n.servo_rotate('out2', 'backward', '50')
-  #   wait(2000)
-
-# case 17) Turn on LED when sensor detects green color
+## Color LED / sensor
+# case 14) Turn on LED when sensor detects green color
 # while True:
-#     print(n.get_value('in1'))
-#     wait(500)
-#     if n.check_color('in1', 'Green'):
-#         n.led_on('out1', '100')
-#     else:
-#         n.led_off('out1')
+#   print(n.get_value('in1'))
+#   wait(500)
+#   if n.check_color('in1', 'Green'):
+#     n.led_on('out1', '100')
+#   else:
+#     n.led_off('out1')