Fixed serveral bugs

Author: Dario Cammi

buildhat/devices/colordistancesensor.py

@@ -124,7 +124,7 @@ async def get_distance(self) -> int:
         self.ensure_connected()
         self.select_read_mode(1)  # PROX
 
-        return await self._wait_for_one_update()
+        return (await self._wait_for_one_update())[0]
 
     async def get_counter(self) -> int:
         """Return the counted object
@@ -134,7 +134,7 @@ async def get_counter(self) -> int:
         self.ensure_connected()
         self.select_read_mode(2)  # COUNT
 
-        return await self._wait_for_one_update()
+        return (await self._wait_for_one_update())[0]
 
     def set_color(self, color: Color) -> None:
         """Set the led color. No measures performed in this mode
@@ -173,4 +173,5 @@ def on_single_value_update(self, mode: int, value: str) -> None:
         """BuildHat call this function when there is a device value update from a combo mode"""
         if mode == self._selected_read_mode:
             self._last_read = value
-            self._read_lock.release()
+            if self._read_lock.locked():
+                self._read_lock.release()

buildhat/devices/colorsensor.py

@@ -188,4 +188,5 @@ def on_single_value_update(self, mode: int, value: str) -> None:
         """BuildHat call this function when there is a device value update from a combo mode"""
         if mode == self._selected_read_mode:
             self._last_read = value
-            self._read_lock.release()
+            if self._read_lock.locked():
+                self._read_lock.release()

buildhat/devices/ultrasonicdistancesensor.py

@@ -1,15 +1,7 @@
-import asyncio
-
 import buildhat.hat
 from ..models.devicetype import DeviceType
 from ..activedevice import ActiveDevice
 
-try:
-    from typing import List, Tuple
-except ImportError:
-    pass
-
-
 class UltrasonicDistanceSensor(ActiveDevice):
     """Distance sensor
     Part number: 6302968
@@ -27,7 +19,7 @@ def on(self):
 
     @property
     def distance(self) -> int:
-        """Distance in cm"""
+        """Distance in mm"""
         return self._distance
 
     def eyes(self, *args: int) -> None:

buildhat/hat.py

@@ -136,7 +136,8 @@ def debug(self, value: bool) -> None:
     def _init_hat(self) -> None:
         # Check if we're in the bootloader or the firmware
         status = ""
-        attempt = 2
+        attempt = 10
+        self._serial.reset_input_buffer()
         self._serial.write(b"version\r")
         while not status:
             line = self.readline(skip="version")
@@ -359,7 +360,11 @@ def _process_all_incoming_messages(self) -> None:
         """Process all the incoming messages from the hat"""
         while self._serial.in_waiting:
             line = self.readline()
-            self._process_message(line)
+            try:
+                self._process_message(line)
+            except:
+                if self._debug:
+                    print(f"FAILED TO PROCESS INCOMING MESSAGE: {line}")
 
     def _process_message(self, line: str) -> None:
         processed = True
@@ -446,21 +451,18 @@ def _process_message(self, line: str) -> None:
                     processed = False
 
         elif line[0] == "P" and (line[2] == "C" or line[2] == "M"):
-            try:
-                header, values = line.split(":")
-                port = int(header[1])
-                iscombi = header[2] == "C"
-                mode = int(header[3:])
-                device = self._connected_devices[port]
-                if isinstance(device, buildhat.activedevice.ActiveDevice):
-                    if iscombi:
-                        values = [v for v in values.split(" ") if v]
-                        device.on_combi_value_update(mode, values)
-                    else:
-                        value = values.strip()
-                        device.on_single_value_update(mode, value)
-            except:
-                pass
+            header, values = line.split(":")
+            port = int(header[1])
+            iscombi = header[2] == "C"
+            mode = int(header[3:])
+            device = self._connected_devices[port]
+            if isinstance(device, buildhat.activedevice.ActiveDevice):
+                if iscombi:
+                    values = [v for v in values.split(" ") if v]
+                    device.on_combi_value_update(mode, values)
+                else:
+                    value = values.strip()
+                    device.on_single_value_update(mode, value)
         else:
             processed = False
 
@@ -481,7 +483,8 @@ def _process_message(self, line: str) -> None:
                 and line.endswith(" V")
             ):
                 self._last_vin_read = float(line.split(" ")[0])
-                self._vin_lock.release()
+                if self._vin_lock.locked():
+                    self._vin_lock.release()
                 return
 
         if self._debug:

buildhat/motors/activemotor.py

@@ -45,7 +45,8 @@ def __init__(self, hat: buildhat.hat.Hat, port: str, type: DeviceType):
 
     def deinit(self) -> None:
         super().deinit()
-        self._run_lock.release()
+        if self._read_lock.locked():
+            self._run_lock.release()
 
     @property
     def power_limit(self) -> float:
@@ -159,7 +160,7 @@ def release_after_run(self, value: bool) -> None:
     async def run_for_rotations(
         self, rotations: int | float, speed: float | None = None, blocking: bool = True
     ):
-        """Run motor for N rotations
+        """Run motor for N rotations (position PID close loop)
 
         :param rotations: Number of rotations
         :param speed: Speed in run_command_speed_unit
@@ -173,7 +174,7 @@ async def run_for_rotations(
     async def run_for_degrees(
         self, degrees: int | float, speed: float | None = None, blocking: bool = True
     ):
-        """Run motor for N degrees
+        """Run motor for N degrees (position PID close loop)
 
         :param degrees: Number of degrees to rotate
         :param speed: Speed in run_command_speed_unit
@@ -200,7 +201,7 @@ async def run_to_position(
         speed: float | None = None,
         blocking: bool = True,
     ):
-        """Run motor until reach the target position
+        """Run motor until reach the target position (position PID close loop)
 
         :param target_position: Position to reach in degrees
         :param speed: Speed in run_command_speed_unit
@@ -295,7 +296,7 @@ async def run_to_absolute_angle(
         blocking: bool = True,
         direction: Direction = Direction.SHORTEST,
     ):
-        """Run motor to an absolute angle
+        """Run motor to an absolute angle (position PID close loop)
 
         :param angle: Position in degrees from -180 to 180
         :param speed: Speed ranging from 0 to 100
@@ -342,7 +343,7 @@ async def run_to_absolute_angle(
     async def run_for_seconds(
         self, seconds: float, speed: float | None = None, blocking: bool = True
     ):
-        """Run motor for N seconds
+        """Run motor for N seconds (speed PID close loop)
 
         :param seconds: Running time in seconds
         :param speed: Speed in run_command_speed_unit
@@ -384,7 +385,7 @@ async def run_for_seconds(
                 self.coast()
 
     def start(self, speed: float | None = None):
-        """Start motor
+        """Start motor (speed PID close loop)
 
         :param speed: Speed in run_command_speed_unit
         """
@@ -427,6 +428,10 @@ def pwmparams(self, pwmthresh, minpwm):
         self.hat.serial.write(f"port {self._port} ; pwmparams {pwmthresh} {minpwm}\r")
 
     def pwm(self, speed: int | float) -> None:
+        """Start the motor (open loop)
+
+        :param speed: PWM value. Range -1 to 1
+        """
         if (
             (not isinstance(speed, int) and not isinstance(speed, float))
             or speed < -1

buildhat/motors/motor.py

@@ -19,7 +19,7 @@ def _parse_ramp_done_message(self, line: str) -> bool:
         When the message is found, release the run lock
         """
         msg = f"P{self._port}{_RAMP_DONE}"
-        if line.startswith(msg):
+        if line.startswith(msg) and self._run_lock.locked():
             self._run_lock.release()
             return True
 
@@ -30,7 +30,7 @@ def _parse_pulse_done_message(self, line: str) -> bool:
         When the message is found, release the run lock
         """
         msg = f"P{self._port}{_PULSE_DONE}"
-        if line.startswith(msg):
+        if line.startswith(msg) and self._run_lock.locked():
             self._run_lock.release()
             return True