def init_command(self, init_list):
"""
:param init_list: The list of pins to be initialized.
:return: True for successful execution.
Creates the initialization command for later execution.
"""
if isinstance(init_list, list):
if all(isinstance(command, tuple) for command in init_list):
if all(len(command) == 2 for command in init_list):
if all(
isinstance(command[0], numbers.Number)
for command in init_list):
if all(
isinstance(command[1], bool)
for command in init_list):
if self.servos:
for command in init_list:
pin = command[0]
servo = next(servo for servo in self.servos
if servo.pin == pin)
if servo:
init_list = [
command for command in init_list
if command[0] != pin
]
if command[1]:
if Controller.execute_servo(
servo, servo.init_pulse):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_servo_to_stack(
servo, servo.init_pulse):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error('Desired servo with pin ' +
str(pin) +
' is not available.')
return False
if self.motors:
for command in init_list:
pin = command[0]
motor = next(motor for motor in self.motors
if motor.pin == pin)
if motor:
if command[1]:
if Controller.execute_motor(
motor,
motor.init_direction,
motor.init_percentage):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_motor_to_stack(
motor,
motor.init_direction,
motor.init_percentage):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error('Desired motor with pin ' +
str(pin) +
' is not available.')
return False
if self.servos or self.motors:
return True
else:
self.error('No servo or motor list available.')
return False
else:
self.error(
'Unexpected tuple element. Second element must be a boolean.'
)
return False
else:
self.error(
'Unexpected tuple element. First element must be a number'
)
return False
else:
self.error('Unexpected tuple size. Expected tuple of two')
return False
else:
self.error('Unexpected list element. Expected list of tuples')
return False
else:
self.error('Unexpected input: ' + type(init_list).__name__ +
'. Expected: list')
return False
def move_motor(self, command_list):
"""
:param command_list: List of commands to be executed.
:return: True for successful execution.
Moves motor according to command_list.
"""
if self.motors:
if isinstance(command_list, list):
if all(isinstance(command, tuple) for command in command_list):
if all(len(command) == 4 for command in command_list):
if all(
isinstance(number, numbers.Number)
for command in command_list
for number in command[:2]):
if all(
isinstance(command[3], bool)
for command in command_list):
for command in command_list:
pin = command[0]
direction = command[1]
percent = command[2]
motor = next(motor for motor in self.motors
if motor.pin == pin)
if motor:
if direction in [-1, 0, 1]:
if 0 <= percent <= 100:
if command[2]:
if Controller.execute_motor(
motor, direction,
percent):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_motor_to_stack(
motor, direction,
percent):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error(
'Invalid percentage. Percentage must be beween 0 and 100.'
)
return False
else:
self.error(
'Invalid direction. Direction must be 1 or -1.'
)
return False
else:
self.error('Desired motor with pin ' +
str(pin) +
' is not available.')
return False
return True
else:
self.error(
'Unexpected tuple element. Last Element must be a boolean.'
)
return False
else:
self.error(
'Unexpected tuple element. First three items must be of type Number.'
)
return False
else:
self.error(
'Unexpected tuple size. Expected tuple of three')
return False
else:
self.error(
'Unexpected list element. Expected list of tuples')
return False
else:
self.error('Unexpected input: ' + type(command_list).__name__ +
'. Expected: list')
return False
else:
self.error('Component does not contain any motors.')
return False