fix sphero toys incorrect listener commands.

setup.py

@@ -5,15 +5,16 @@
 
 setup(
     name='spherov2',
-    version='0.10.2',
+    version='0.11',
     author='Hanbang Wang', # and 'Elionardo Feliciano',
     author_email='[email protected]', # and '[email protected]',
     license='MIT',
     description='An unofficial Bluetooth low energy library for Sphero toys in Python.',
     long_description=long_desc,
     long_description_content_type='text/markdown',
     url='https://github.com/artificial-intelligence-class/spherov2.py',
-    packages=find_namespace_packages(include=['spherov2', 'spherov2.*']),
+    packages=find_namespace_packages(include=['spherov2', 'spherov2.*'],
+                                     exclude=["*.test", "*.test.*"]),
     classifiers=[
         'Development Status :: 4 - Beta',
         'Framework :: Robot Framework :: Library',

spherov2/toy/bb8.py

@@ -1,88 +1,10 @@
-from enum import IntEnum
-from enum import IntEnum
-from functools import lru_cache
-
 from spherov2.commands.core import Core
-from spherov2.commands.sphero import Sphero
-from spherov2.controls.v1 import FirmwareUpdateControl
-from spherov2.toy.sphero import Sphero as SPHERO
+from spherov2.toy.ollie import Ollie
 from spherov2.types import ToyType
 
 
-class BB8(SPHERO):
+class BB8(Ollie):
     toy_type = ToyType('BB-8', 'BB-', 'BB', .06)
 
-    # _send_uuid = '22bb746f-2ba1-7554-2d6f-726568705327'
-    # _response_uuid = '22bb746f-2ba6-7554-2d6f-726568705327'
-    # _handshake = [('22bb746f-2bbd-7554-2d6f-726568705327', bytearray(b'011i3')),
-    #              ('22bb746f-2bb2-7554-2d6f-726568705327', bytearray([7]))]
-
-    class LEDs(IntEnum):
-        BODY_RED = 0
-        BODY_GREEN = 1
-        BODY_BLUE = 2
-        AIMING = 3
-        HEAD = 4
-
-    class Animations(IntEnum):
-        EMOTE_ALARM = 0
-        EMOTE_NO = 1
-        EMOTE_SCAN_SWEEP = 2
-        EMOTE_SCARED = 3
-        EMOTE_YES = 4
-        EMOTE_AFFIRMATIVE = 5
-        EMOTE_AGITATED = 6
-        EMOTE_ANGRY = 7
-        EMOTE_CONTENT = 8
-        EMOTE_EXCITED = 9
-        EMOTE_FIERY = 10
-        EMOTE_GREETINGS = 11
-        EMOTE_NERVOUS = 12
-        EMOTE_SLEEP = 14
-        EMOTE_SURPRISED = 15
-        EMOTE_UNDERSTOOD = 16
-        HIT = 17
-        WWM_ANGRY = 18
-        WWM_ANXIOUS = 19
-        WWM_BOW = 20
-        WWM_CURIOUS = 22
-        WWM_DOUBLE_TAKE = 23
-        WWM_EXCITED = 24
-        WWM_FIERY = 25
-        WWM_HAPPY = 26
-        WWM_JITTERY = 27
-        WWM_LAUGH = 28
-        WWM_LONG_SHAKE = 29
-        WWM_NO = 30
-        WWM_OMINOUS = 31
-        WWM_RELIEVED = 32
-        WWM_SAD = 33
-        WWM_SCARED = 34
-        WWM_SHAKE = 35
-        WWM_SURPRISED = 36
-        WWM_TAUNTING = 37
-        WWM_WHISPER = 38
-        WWM_YELLING = 39
-        WWM_YOOHOO = 40
-        WWM_FRUSTRATED = 41
-        IDLE_1 = 42
-        IDLE_2 = 43
-        IDLE_3 = 44
-        EYE_1 = 45
-        EYE_2 = 46
-        EYE_3 = 47
-        EYE_4 = 48
-
-    # Async - Sphero
-    # Bootloader - Sphero
     # Core
-    get_factory_config_block_crc = Core.get_factory_config_block_crc  # GetFactorConfigBlockCrcCommand
-
-    # Sphero
-    get_sku = Sphero.get_sku  # GetSkuCommand
-
-    # Controls - Sphero
-    @property
-    @lru_cache(None)
-    def firmware_update_control(self):
-        return FirmwareUpdateControl(self)
+    get_factory_config_block_crc = Core.get_factory_config_block_crc

spherov2/toy/sphero.py

@@ -1,12 +1,11 @@
 from collections import OrderedDict
 from functools import partialmethod, lru_cache
 
+from spherov2.commands.async_ import Async
 from spherov2.commands.bootloader import Bootloader
 from spherov2.commands.core import Core
-from spherov2.commands.power import Power
-from spherov2.commands.sensor import Sensor
 from spherov2.commands.sphero import Sphero as SpheroCmd
-from spherov2.controls.v1 import DriveControl, SensorControl
+from spherov2.controls.v1 import DriveControl, SensorControl, StatsControl, FirmwareUpdateControl
 from spherov2.toy import ToySensor, Toy
 from spherov2.types import ToyType
 
@@ -60,72 +59,74 @@ def wake(self):
 
     # Async
     add_battery_state_changed_notify_listener = partialmethod(Toy._add_listener,
-                                                              Power.battery_state_changed_notify)  # BatteryStateChangedNotifyCommand
+                                                              Async.battery_state_changed_notify)
     remove_battery_state_changed_notify_listener = partialmethod(Toy._remove_listener,
-                                                                 Power.battery_state_changed_notify)  # BatteryStateChangedNotifyCommand
+                                                                 Async.battery_state_changed_notify)
     add_collision_detected_notify_listener = partialmethod(Toy._add_listener,
-                                                           Sensor.collision_detected_notify)  # CollisionDetectedNotifyCommand
+                                                           Async.collision_detected_notify)
     remove_collision_detected_notify_listener = partialmethod(Toy._remove_listener,
-                                                              Sensor.collision_detected_notify)  # CollisionDetectedNotifyCommand
-    add_did_sleep_notify_listener = partialmethod(Toy._add_listener, Power.did_sleep_notify)  # DidSleepNotifyCommand
+                                                              Async.collision_detected_notify)
+    add_did_sleep_notify_listener = partialmethod(Toy._add_listener,
+                                                  Async.did_sleep_notify)
     remove_did_sleep_notify_listener = partialmethod(Toy._remove_listener,
-                                                     Power.did_sleep_notify)  # DidSleepNotifyCommand
-    add_gyro_max_notify_listener = partialmethod(Toy._add_listener, Sensor.gyro_max_notify)  # GyroMaxNotifyCommand
+                                                     Async.did_sleep_notify)
+    add_gyro_max_notify_listener = partialmethod(Toy._add_listener,
+                                                 Async.gyro_max_notify)
     remove_gyro_max_notify_listener = partialmethod(Toy._remove_listener,
-                                                    Sensor.gyro_max_notify)  # GyroMaxNotifyCommand
+                                                    Async.gyro_max_notify)
     add_sensor_streaming_data_notify_listener = partialmethod(Toy._add_listener,
-                                                              Sensor.sensor_streaming_data_notify)  # SensorStreamingDataNotifyCommand
+                                                              Async.sensor_streaming_data_notify)
     remove_sensor_streaming_data_notify_listener = partialmethod(Toy._remove_listener,
-                                                                 Sensor.sensor_streaming_data_notify)  # SensorStreamingDataNotifyCommand
-    add_will_sleep_notify_listener = partialmethod(Toy._add_listener, Power.will_sleep_notify)  # WillSleepNotifyCommand
+                                                                 Async.sensor_streaming_data_notify)
+    add_will_sleep_notify_listener = partialmethod(Toy._add_listener,
+                                                   Async.will_sleep_notify)
     remove_will_sleep_notify_listener = partialmethod(Toy._remove_listener,
-                                                      Power.will_sleep_notify)  # WillSleepNotifyCommand
+                                                      Async.will_sleep_notify)
 
     # Bootloader
-    begin_reflash = Bootloader.begin_reflash  # BeginReflashCommand
-    here_is_page = Bootloader.here_is_page  # HereIsPageCommand
-    jump_to_main = Bootloader.jump_to_main  # JumpToMainCommand
+    begin_reflash = Bootloader.begin_reflash
+    here_is_page = Bootloader.here_is_page
+    jump_to_main = Bootloader.jump_to_main
 
     # Core
-    enable_battery_state_changed_notify = Core.enable_battery_state_changed_notify  # EnableBatteryStateChangedNotifyCommand
-    get_bluetooth_info = Core.get_bluetooth_info  # GetBluetoothInfoCommand
-    get_charger_state = Core.get_charger_state  # GetChargerStateCommand
-    get_power_state = Core.get_power_state  # GetPowerStateCommand
-    get_versions = Core.get_versions  # GetVersionsCommand
-    jump_to_bootloader = Core.jump_to_bootloader  # JumpToBootloaderCommand
-    ping = Core.ping  # PingCommand
-    set_bluetooth_name = Core.set_bluetooth_name  # SetBluetoothNameCommand
-    set_inactivity_timeout = Core.set_inactivity_timeout  # SetInactivityTimeoutCommand
-    sleep = Core.sleep  # SleepCommand
+    enable_battery_state_changed_notify = Core.enable_battery_state_changed_notify
+    get_bluetooth_info = Core.get_bluetooth_info
+    get_charger_state = Core.get_charger_state
+    get_power_state = Core.get_power_state
+    get_versions = Core.get_versions
+    jump_to_bootloader = Core.jump_to_bootloader
+    ping = Core.ping
+    set_bluetooth_name = Core.set_bluetooth_name
+    set_inactivity_timeout = Core.set_inactivity_timeout
+    sleep = Core.sleep
 
     # Sphero
-    boost = SpheroCmd.boost  # BoostCommand
-    configure_collision_detection = SpheroCmd.configure_collision_detection  # ConfigureCollisionDetectionCommand
-    configure_locator = SpheroCmd.configure_locator  # ConfigureLocatorCommand
-    get_chassis_id = SpheroCmd.get_chassis_id  # GetChassisId
-    get_persistent_options = SpheroCmd.get_persistent_options  # GetPersistentOptionsCommand
-    get_temperature = SpheroCmd.get_temperature  # GetTemperatureCommand
-    set_temporary_options = SpheroCmd.set_temporary_options  # GetTemporaryOptionsCommand
-    roll = SpheroCmd.roll  # RollCommand
-    self_level = SpheroCmd.self_level  # SelfLevelCommand
-    set_back_led_brightness = SpheroCmd.set_back_led_brightness  # SetBackLedBrightnessCommand
-    set_data_streaming = SpheroCmd.set_data_streaming  # SetDataSteamingCommand
-    set_heading = SpheroCmd.set_heading  # SetHeadingCommand
-    set_main_led = SpheroCmd.set_main_led  # SetMainLedCommand
-    set_motion_timeout = SpheroCmd.set_motion_timeout  # SetMotionTimeoutCommand
-    set_persistent_options = SpheroCmd.set_persistent_options  # SetPersistentOptionsCommand
-    set_raw_motors = SpheroCmd.set_raw_motors  # SetRawMotorsCommand
-    set_rotation_rate = SpheroCmd.set_rotation_rate  # SetRotationRateCommand
-    set_stabilization = SpheroCmd.set_stabilization  # SetStabilizationCommand
-    set_temporary_options = SpheroCmd.set_temporary_options  # SetTemporaryOptionsCommand
+    boost = SpheroCmd.boost
+    configure_collision_detection = SpheroCmd.configure_collision_detection
+    configure_locator = SpheroCmd.configure_locator
+    get_chassis_id = SpheroCmd.get_chassis_id
+    get_persistent_options = SpheroCmd.get_persistent_options
+    get_temperature = SpheroCmd.get_temperature
+    set_temporary_options = SpheroCmd.set_temporary_options
+    roll = SpheroCmd.roll
+    self_level = SpheroCmd.self_level
+    set_back_led_brightness = SpheroCmd.set_back_led_brightness
+    set_data_streaming = SpheroCmd.set_data_streaming
+    set_heading = SpheroCmd.set_heading
+    set_main_led = SpheroCmd.set_main_led
+    set_motion_timeout = SpheroCmd.set_motion_timeout
+    set_persistent_options = SpheroCmd.set_persistent_options
+    set_raw_motors = SpheroCmd.set_raw_motors
+    set_rotation_rate = SpheroCmd.set_rotation_rate
+    set_stabilization = SpheroCmd.set_stabilization
 
     # Controls - V1
     @property
     @lru_cache(None)
     def drive_control(self):
         return DriveControl(self)
 
-    # The way utils.py is implemented this doesnt need to be present
+    # The way utils.py is implemented this doesn't need to be present
     # @property
     # @lru_cache(None)
     # def multi_led_control(self):
@@ -140,3 +141,8 @@ def sensor_control(self):
     @lru_cache(None)
     def stats_control(self):
         return StatsControl(self)
+
+    @property
+    @lru_cache(None)
+    def firmware_update_control(self):
+        return FirmwareUpdateControl(self)

spherov2/toy/sprk2.py

@@ -1,6 +1,6 @@
-from spherov2.toy.sphero import Sphero as SPHERO
+from spherov2.toy.bb8 import BB8
 from spherov2.types import ToyType
 
 
-class Sprk2(SPHERO):
+class Sprk2(BB8):
     toy_type = ToyType('Sphero SPRK+', 'SK-', 'SK', .06)