Merge pull request #18 from jupyter-robotics/dev

Simplify asyncio syntax

Author: IsabelParedes

content/introduction.ipynb

@@ -14,7 +14,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%pip install ipynao==0.4.1"
+    "%pip install ipynao==0.5.0"
    ]
   },
   {
@@ -165,7 +165,7 @@
    },
    "outputs": [],
    "source": [
-    "robot_summary = asyncio.ensure_future(motion.async_getSummary())"
+    "robot_summary = motion.getSummary()"
    ]
   },
   {
@@ -311,7 +311,7 @@
     "fps = 20\n",
     "sub_ID = \"jupy\"\n",
     "\n",
-    "cam_sub = asyncio.ensure_future(vid.async_subscribeCamera(sub_ID, 0, resolution, color_space, fps))"
+    "cam_sub = vid.subscribeCamera(sub_ID, 0, resolution, color_space, fps)"
    ]
   },
   {
@@ -334,7 +334,7 @@
    },
    "outputs": [],
    "source": [
-    "img_future = asyncio.ensure_future(vid.async_getImageRemote(sub_name))"
+    "img_future = vid.getImageRemote(sub_name)"
    ]
   },
   {
@@ -425,9 +425,9 @@
    "outputs": [],
    "source": [
     "async def little_dance():\n",
-    "    await motion.async_wakeUp()\n",
-    "    await animate.async_run(\"animations/Stand/Gestures/Hey_2\")\n",
-    "    await motion.async_rest()"
+    "    await motion.wakeUp()\n",
+    "    await animate.run(\"animations/Stand/Gestures/Hey_2\")\n",
+    "    await motion.rest()"
    ]
   },
   {
@@ -470,9 +470,16 @@
    "outputs": [],
    "source": [
     "out = Output()\n",
-    "res = asyncio.ensure_future(w.service(\"ALLeds\", out).async_rasta(\"gibberish\"))\n",
+    "res = w.service(\"ALLeds\", out).rasta(\"gibberish\")\n",
     "out"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {

ipynao/_frontend.py

@@ -9,4 +9,4 @@
 """
 
 module_name = "ipynao"
-module_version = "^0.4.1"
+module_version = "^0.5.0"

ipynao/nao_robot.py

@@ -11,7 +11,7 @@
 from ipywidgets import DOMWidget, Output
 from traitlets import Unicode, Integer
 from ._frontend import module_name, module_version
-import asyncio
+from asyncio import ensure_future, Future
 
 
 class NaoRobotService():
@@ -36,33 +36,20 @@ def _create_msg(self, method_name, *args, **kwargs):
         self.widget.request_id += 1
         return data
 
-    def call_service(self, method_name, *args, **kwargs):
-        data = self._create_msg(method_name, *args, **kwargs)
-        self.widget.send(data)
 
-    async def async_call_service(self, method_name, *args, **kwargs):
+    async def call_service(self, method_name, *args, **kwargs):
         data = self._create_msg(method_name, *args, **kwargs)
         self.widget.send(data)
         request_id = data['requestID']
 
-        try:
-            self.output.clear_output()
-            self.output.append_stdout('Calling service... \n')
-            await self.widget.wait_for_change('counter', self.output, request_id)
-        except Exception as e:
-            return e
-        
-        response = self.widget.response[request_id]['data']
-        del self.widget.response[request_id]
+        self.output.append_stdout(f'Calling service {self.name}...\n')
+        future = await self.widget.wait_for_change('counter', self.output, request_id)
 
-        return response
+        return future
 
 
     def __getattr__(self, method_name):
-        if (method_name[:6] == 'async_'):
-            return lambda *x, **y: self.async_call_service(method_name[6:], *x, **y)
-        else:
-            return lambda *x, **y: self.call_service(method_name, *x, **y)
+        return lambda *x, **y: ensure_future(self.call_service(method_name, *x, **y))
 
 
 class NaoRobotWidget(DOMWidget):
@@ -95,7 +82,7 @@ def _handle_frontend_msg(self, model, msg, buffer):
 
 
     def wait_for_change(widget, value_name, output=Output(), request_id=0):
-        future = asyncio.Future()
+        future = Future()
         widget.response[request_id] = {
             'isError': False,
             'data': None
@@ -108,17 +95,19 @@ def get_value_change(change):
                 widget.unobserve(get_value_change, names=value_name)
 
                 if (response['isError']):
-                    future.set_exception(Exception(response['data']))
+                    if not future.done():
+                        # TODO: Fix "Task exception was never retrieved"
+                        # future.set_exception(Exception(response['data']))
+                        future.set_result(Exception(response['data']))
                     output.append_stderr(str(response['data']) + '\n')
                 else:
-                    future.set_result(response['data'])
+                    if not future.done():
+                        future.set_result(response['data'])
                     output.append_stdout(str(response['data']) + '\n')
 
-            else:
-                future.set_result(change) 
 
         widget.observe(get_value_change, names=value_name)
-        return future    
+        return future
 
 
     def connect(self, ip_address='nao.local', port='80'):      

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "ipynao",
-  "version": "0.4.1",
+  "version": "0.5.0",
   "description": "A widget library for controlling Nao",
   "keywords": [
     "jupyter",

package.json

@@ -34,7 +34,7 @@ classifiers = [
 dependencies = [
     "ipywidgets>=7.0.0",
 ]
-version = "0.4.1"
+version = "0.5.0"
 
 [project.optional-dependencies]
 docs = [
@@ -104,7 +104,7 @@ file = [
 ]
 
 [tool.tbump.version]
-current = "0.4.1"
+current = "0.5.0"
 regex = "(?P<major>\\d+)\\.(?P<minor>\\d+)\\.(?P<patch>\\d+)((?P<channel>a|b|rc|.dev)(?P<release>\\d+))?"
 
 [tool.tbump.git]

pyproject.toml

@@ -27,7 +27,7 @@ ipympl>=0.8.2
 ipycanvas>=0.9.1
 
 # Python: ipynao library for Nao robot
-ipynao>=0.4.1
+ipynao>=0.5.0
 
 # For examples with images
 Pillow

requirements.txt

@@ -155,11 +155,6 @@ export class NaoRobotModel extends DOMWidgetModel {
     // the request ID is the next one which is used to call the service
     const naoService = await servicePromise
       .then((resolution: any) => {
-        this.send({
-          isError: false,
-          data: true, // TODO: resolution ?? true,
-          requestID: requestID + 1, // Note above
-        });
         return resolution;
       })
       .catch((rejection: string) => {