def set_head_position(toy: Toy,
head_position: float,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Animatronic.set_head_position):
toy.set_head_position(head_position)
elif not_supported_handler:
not_supported_handler()
def stop_robot_to_robot_infrared_evading(toy: Toy,
not_supported_handler: Callable[
[], None] = None):
if toy.implements(Sensor.stop_robot_to_robot_infrared_evading):
toy.stop_robot_to_robot_infrared_evading()
elif not_supported_handler:
not_supported_handler()
def set_locator_flags(toy: Toy,
flag: bool,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Sensor.set_locator_flags):
toy.set_locator_flags(flag)
elif not_supported_handler:
not_supported_handler()
def set_color_detection(toy: Toy,
enable: bool,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Sensor.enable_color_detection):
toy.enable_color_detection(enable)
elif not_supported_handler:
not_supported_handler()
def perform_leg_action(toy: Toy,
leg_action: R2LegActions,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Animatronic.perform_leg_action):
toy.perform_leg_action(leg_action)
elif not_supported_handler:
not_supported_handler()
def play_animation(toy: Toy,
animation: IntEnum,
wait: bool = False,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Animatronic.play_animation):
toy.play_animation(animation, wait)
elif not_supported_handler:
not_supported_handler()
def start_robot_to_robot_infrared_evading(
toy: Toy,
far: int,
near: int,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Sensor.start_robot_to_robot_infrared_evading):
toy.start_robot_to_robot_infrared_evading(far, near)
elif not_supported_handler:
not_supported_handler()
def listen_for_robot_to_robot_infrared_message(
toy: Toy,
channels: Iterable[int],
duration: int,
not_supported_handler: Callable[[], None] = None):
# TODO: BOLT
if toy.implements(Sensor.enable_robot_infrared_message_notify):
toy.enable_robot_infrared_message_notify(True)
elif not_supported_handler:
not_supported_handler()
def set_led_matrix_one_colour(
toy: Toy,
r: int,
g: int,
b: int,
not_supported_handler: Callable[[], None] = None):
if toy.implements(IO.set_compressed_frame_player_one_color):
toy.set_compressed_frame_player_one_color(r, g, b)
elif not_supported_handler:
not_supported_handler()
def play_sound(toy: Toy,
sound: IntEnum,
force_play: bool,
not_supported_handler: Callable[[], None] = None):
if toy.implements(IO.play_audio_file):
toy.play_audio_file(
sound, AudioPlaybackModes.PLAY_IMMEDIATELY
if force_play else AudioPlaybackModes.PLAY_ONLY_IF_NOT_PLAYING)
elif not_supported_handler:
not_supported_handler()
def send_robot_to_robot_infrared_message(
toy: Toy,
channel: int,
intensity: int,
not_supported_handler: Callable[[], None] = None):
# if toy.implements(Sensor.send_robot_to_robot_infrared_message): TODO: BOLT
# toy.send_robot_to_robot_infrared_message(channel, intensity, intensity, intensity, intensity)
if toy.implements(Sensor.send_infrared_message):
toy.send_infrared_message(channel, intensity, intensity, intensity,
intensity)
elif not_supported_handler:
not_supported_handler()
def ping(toy: Toy, not_supported_handler: Callable[[], None] = None):
if toy.implements(Core.ping):
toy.ping()
elif toy.implements(ApiAndShell.ping):
toy.ping(None)
elif toy.implements(ApiAndShell.ping, True):
toy.ping(None, Processors.PRIMARY)
elif not_supported_handler:
not_supported_handler()
def set_power_notifications(toy: Toy,
enable: bool,
not_supported_handler: Callable[[],
None] = None):
if toy.implements(Power.enable_charger_state_changed_notify):
toy.enable_charger_state_changed_notify(enable)
elif toy.implements(Power.enable_battery_state_changed_notify):
toy.enable_battery_state_changed_notify(enable)
elif toy.implements(Power.enable_battery_voltage_state_change_notify):
toy.enable_battery_voltage_state_change_notify(enable)
elif not_supported_handler:
not_supported_handler()
def set_robot_state_on_start(toy: Toy):
# TODO setUserColour
ToyUtil.set_head_position(toy, 0)
ToyUtil.perform_leg_action(toy, R2LegActions.THREE_LEGS)
ToyUtil.set_locator_flags(toy, False)
ToyUtil.configure_collision_detection(toy)
ToyUtil.set_power_notifications(toy, True)
if toy.implements(Sensor.enable_gyro_max_notify):
toy.enable_gyro_max_notify(True)
if hasattr(toy, 'sensor_control'):
toy.sensor_control.set_interval(150)
ToyUtil.turn_off_leds(toy)
if isinstance(toy, RVR):
ToyUtil.set_color_detection(toy, True)
ToyUtil.reset_heading(toy)
ToyUtil.reset_locator(toy)
def sleep(toy: Toy, not_supported_handler: Callable[[], None] = None):
if toy.implements(Core.sleep):
toy.sleep(IntervalOptions.NONE, 0, 0)
elif toy.implements(Power.sleep):
toy.sleep()
elif not_supported_handler:
not_supported_handler()
def configure_collision_detection(toy: Toy,
not_supported_handler: Callable[
[], None] = None):
x, y, t = 90, 130, 1
if toy.implements(Sensor.configure_collision_detection):
toy.configure_collision_detection(
CollisionDetectionMethods.ACCELEROMETER_BASED_DETECTION, x, y,
x, y, t)
elif toy.implements(Sphero.configure_collision_detection):
toy.configure_collision_detection(
SpheroCollisionDetectionMethods.DEFAULT, x, y, x, y, t)
elif toy.implements(
Sensor.configure_sensitivity_based_collision_detection):
toy.configure_sensitivity_based_collision_detection(
SensitivityBasedCollisionDetectionMethods.
ACCELEROMETER_BASED_DETECTION, SensitivityLevels.VERY_HIGH, t)
elif not_supported_handler:
not_supported_handler()
def reset_locator(toy: Toy,
not_supported_handler: Callable[[], None] = None):
if toy.implements(Sphero.configure_locator):
toy.configure_locator(0, 0, 0, 0)
elif toy.implements(Sensor.reset_locator_x_and_y):
toy.reset_locator_x_and_y()
elif not_supported_handler:
not_supported_handler()
def add_listeners(toy: Toy, manager):
if hasattr(toy, 'sensor_control') and hasattr(manager,
'_sensor_data_listener'):
toy.sensor_control.add_sensor_data_listener(
manager._sensor_data_listener)
if hasattr(toy, 'add_collision_detected_notify_listener') and hasattr(
manager, '_collision_detected_notify'):
toy.add_collision_detected_notify_listener(
manager._collision_detected_notify)
if hasattr(toy, 'add_battery_state_changed_notify_listener') and \
hasattr(manager, '_battery_state_changed_notify'):
toy.add_battery_state_changed_notify_listener(
manager._battery_state_changed_notify)
if hasattr(toy, 'add_gyro_max_notify_listener') and hasattr(
manager, '_gyro_max_notify'):
toy.add_gyro_max_notify_listener(manager._gyro_max_notify)
if hasattr(toy, 'add_will_sleep_notify_listener') and hasattr(
manager, '_will_sleep_notify'):
toy.add_will_sleep_notify_listener(manager._will_sleep_notify)
if hasattr(toy, 'add_robot_to_robot_infrared_message_received_notify_listener') and \
hasattr(manager, '_robot_to_robot_infrared_message_received_notify'):
toy.add_robot_to_robot_infrared_message_received_notify_listener(
manager._robot_to_robot_infrared_message_received_notify)
