imporve code compatibility.

Author: zlj-zz

pymycobot/__init__.py

@@ -1,4 +1,7 @@
+# coding=utf-8
+
 from __future__ import absolute_import
+import datetime
 
 from pymycobot.mycobot import MyCobot
 from pymycobot.generate import MycobotCommandGenerater
@@ -11,6 +14,10 @@
 __author__ = "Zachary zhang"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
+__copyright__ = "CopyRight (c) 2020-{0} Shenzhen Elephantrobotics technology".format(
+    datetime.datetime.now().year
+)
 
+# For raspberry mycobot 280.
 PI_PORT = "/dev/ttyAMA0"
 PI_BAUD = 1000000

pymycobot/common.py

@@ -1,8 +1,10 @@
+# coding=utf-8
+
 from __future__ import division
 import struct
 
 
-class Command(object):
+class ProtocolCode(object):
     # BASIC
     HEADER = 0xFE
     FOOTER = 0xFA
@@ -92,16 +94,16 @@ def _decode_int8(self, data):
     def _decode_int16(self, data):
         return struct.unpack(">h", data)[0]
 
-    def _angle_to_int(self, angle):
+    def _angle2int(self, angle):
         return int(angle * 100)
 
-    def _coord_to_int(self, coord):
+    def _coord2int(self, coord):
         return int(coord * 10)
 
-    def _int_to_angle(self, _int):
+    def _int2angle(self, _int):
         return round(_int / 100.0, 3)
 
-    def _int_to_coord(self, _int):
+    def _int2coord(self, _int):
         return round(_int / 10.0, 2)
 
     def _flatten(self, _list):
@@ -121,7 +123,7 @@ def _process_data_command(self, args):
         )
 
     def _is_frame_header(self, data, pos):
-        return data[pos] == Command.HEADER and data[pos + 1] == Command.HEADER
+        return data[pos] == ProtocolCode.HEADER and data[pos + 1] == ProtocolCode.HEADER
 
     def _process_received(self, data, genre):
         if not data:
@@ -152,7 +154,7 @@ def _process_received(self, data, genre):
                 one = valid_data[idx : idx + 2]
                 res.append(self._decode_int16(one))
         elif data_len == 2:
-            if genre in [Command.IS_SERVO_ENABLE]:
+            if genre in [ProtocolCode.IS_SERVO_ENABLE]:
                 return [self._decode_int8(valid_data[1:2])]
             res.append(self._decode_int16(valid_data))
         else:

pymycobot/error.py

@@ -1,5 +1,15 @@
-_MINANGLE = -190.0
-_MAXANGLE = 190.0
+# coding=utf-8
+
+# In order to adapt to the atom side, ID of 0-5 or 1-6 are allowed.
+# In order to support end control, ID 7 is allowed.
+MIN_ID = 0
+MAX_ID = 7
+
+# In fact, most joints cannot reach plus or minus 180 degrees.
+# There may be a value greater than 180 when reading the angle,
+# and the maximum and minimum values are expanded for compatibility.
+MIN_ANGLE = -190.0
+MAX_ANGLE = 190.0
 
 
 class MyCobotDataException(Exception):
@@ -11,65 +21,55 @@ def check_boolean(b):
         raise MyCobotDataException("This parameter needs to be 0 or 1")
 
 
-def check_range(v, ra):
-    min, max = ra
-    if min <= v <= max:
-        return True
-    else:
-        return False
-
-
-def check_coord(id, v):
-    coords = ["x", "y", "z", "rx", "ry", "rz"]
-    if id < 3:
-        pass
-    else:
-        if not check_range(v, [-180, 180]):
-            raise MyCobotDataException(
-                "{} value not right, should be -180 ~ 180".format(coords[id])
-            )
-
-
-def check_rgb(args):
-    rgb_str = ["r", "g", "b"]
-    for i, v in enumerate(args):
-        if not check_range(v, [0, 255]):
-            raise MyCobotDataException(
-                "The RGB value needs be 0 ~ 255, but the %s is %s" % (rgb_str[i], v)
-            )
-
-
-def check_datas(**kwargs):
-    if kwargs.get("joint_id", None) is not None and not 0 < kwargs["joint_id"] < 7:
+def calibration_parameters(**kwargs):
+    if kwargs.get("id", None) is not None and not MIN_ID <= kwargs["id"] <= MAX_ID:
         raise MyCobotDataException(
-            "The joint id not right, should be 1 ~ 6, but received %s."
-            % kwargs["joint_id"]
+            "The id not right, should be {0} ~ {1}, but received {2}.".format(
+                MIN_ID, MAX_ID, kwargs["id"]
+            )
         )
+
     if (
         kwargs.get("degree", None) is not None
-        and not _MINANGLE <= kwargs["degree"] <= _MAXANGLE
+        and not MIN_ANGLE <= kwargs["degree"] <= MAX_ANGLE
     ):
         raise MyCobotDataException(
-            "degree value not right, should be -180 ~ 180, but received %s"
-            % kwargs["degree"]
-        )
-    if kwargs.get("len6", None) is not None:
-        len_ = len(kwargs["len6"])
-        if len_ != 6:
-            raise MyCobotDataException(
-                "The length of data should be 6, the truth is %s" % len_
+            "degree value not right, should be {0} ~ {1}, but received {2}".format(
+                MIN_ANGLE, MAX_ANGLE, kwargs["degree"]
             )
+        )
+
     if kwargs.get("degrees", None) is not None:
-        for idx, angle in enumerate(kwargs["degrees"]):
-            if not _MINANGLE <= angle <= _MAXANGLE:
+        degrees = kwargs["degrees"]
+        if not isinstance(degrees, list):
+            raise MyCobotDataException("`degrees` must be a list.")
+        if len(degrees) != 6:
+            raise MyCobotDataException("The length of `degrees` must be 6.")
+        for idx, angle in enumerate(degrees):
+            if not MIN_ANGLE <= angle <= MAX_ANGLE:
                 raise MyCobotDataException(
-                    "degree value not right, should be -180 ~ 180, the error index is %s"
-                    % idx
+                    "Has invalid degree value, error on index {0}. Degree should be {1} ~ {2}.".format(
+                        idx, MIN_ANGLE, MAX_ANGLE
+                    )
                 )
+
+    if kwargs.get("coords", None) is not None:
+        coords = kwargs["coords"]
+        if not isinstance(coords, list):
+            raise MyCobotDataException("`coords` must be a list.")
+        if len(coords) != 6:
+            raise MyCobotDataException("The length of `coords` must be 6.")
+
     if kwargs.get("speed", None) is not None and not 0 <= kwargs["speed"] <= 100:
         raise MyCobotDataException(
             "speed value not right, should be 0 ~ 100, the error speed is %s"
             % kwargs["speed"]
         )
+
     if kwargs.get("rgb", None) is not None:
-        check_rgb(kwargs["rgb"])
+        rgb_str = ["r", "g", "b"]
+        for i, v in enumerate(kwargs["rgb"]):
+            if not (0 <= v <= 255):
+                raise MyCobotDataException(
+                    "The RGB value needs be 0 ~ 255, but the %s is %s" % (rgb_str[i], v)
+                )