anki · msintov · Dec 6, 2018 · Nov 29, 2018 · Nov 29, 2018 · Dec 1, 2018
@@ -0,0 +1,44 @@
+.PHONY: dist examples license wheel installer
+
+version = $(shell perl -ne '/__version__ = "([^"]+)/ && print $$1;' anki_vector/version.py)
+
+license_targets = anki_vector/LICENSE.txt examples/LICENSE.txt
+example_targets = dist/anki_vector_sdk_examples.tar.gz dist/anki_vector_sdk_examples.zip
+
+example_filenames = $(shell cd examples && find . -name '*.py' -o -name '*.txt' -o -name '*.png' -o -name '*.jpg' -o -name '*.md' -o -name '*.json')
+example_pathnames = $(shell find examples -name '*.py' -o -name '*.txt' -o -name '*.png' -o -name '*.jpg' -o -name '*.md' -o -name '*.json')
+sdist_filename = dist/anki_vector-$(version).tar.gz
+wheel_filename = dist/anki_vector-$(version)-py3-none-any.whl
+
+license: $(license_targets)
+
+$(license_targets): LICENSE.txt
+	for fn in $(license_targets); do \
+		cp LICENSE.txt $$fn; \
+	done
+
+$(sdist_filename): anki_vector/LICENSE.txt anki_vector/assets/LICENSE.txt $(shell find anki_vector -name '*.py' -o -name '*.mtl' -o -name '*.obj' -o -name '*.jpg')
+	python3 setup.py sdist
+
+$(wheel_filename): anki_vector/LICENSE.txt anki_vector/assets/LICENSE.txt $(shell find anki_vector -name '*.py' -o -name '*.mtl' -o -name '*.obj' -o -name '*.jpg')
+	python3 setup.py bdist_wheel
+
+dist/anki_vector_sdk_examples.zip: examples/LICENSE.txt $(example_pathnames)
+	rm -f dist/anki_vector_sdk_examples.zip dist/anki_vector_sdk_examples_$(version).zip
+	rm -rf dist/anki_vector_sdk_examples_$(version)
+	mkdir dist/anki_vector_sdk_examples_$(version)
+	tar -C examples -c $(example_filenames) | tar -C dist/anki_vector_sdk_examples_$(version)  -xv
+	cd dist && zip -r anki_vector_sdk_examples.zip anki_vector_sdk_examples_$(version)
+	cd dist && zip -r anki_vector_sdk_examples_$(version).zip anki_vector_sdk_examples_$(version)
+
+dist/anki_vector_sdk_examples.tar.gz: examples/LICENSE.txt $(example_pathnames)
+	rm -f dist/anki_vector_sdk_examples.tar.gz dist/anki_vector_sdk_examples_$(version).tar.gz
+	rm -rf dist/anki_vector_sdk_examples_$(version)
+	mkdir dist/anki_vector_sdk_examples_$(version)
+	tar -C examples -c $(example_filenames) | tar -C dist/anki_vector_sdk_examples_$(version)  -xv
+	cd dist && tar -cvzf anki_vector_sdk_examples.tar.gz anki_vector_sdk_examples_$(version)
+	cp -a dist/anki_vector_sdk_examples.tar.gz dist/anki_vector_sdk_examples_$(version).tar.gz
+
+examples: dist/anki_vector_sdk_examples.tar.gz dist/anki_vector_sdk_examples.zip
+
+dist: $(sdist_filename) $(wheel_filename) examples
@@ -8,7 +8,7 @@ Before connecting, you will need:
 * Vector's IP Address: The ip address can be found by first placing Vector on the charger, then double-clicking the button on his back, and finally raising and lowering his arms. It is possible for your ip to change based on your network settings, so it must be updated accordingly. Example: `192.168.43.48`
 * Vector's Serial Number: You may find this number on the underside of your robot. Example: `00e20115`
 
-These will be needed to run the configure.py script and set up authentication from your device to your Vector.
+These will be needed to run the `anki_vector.configure` executable submodule and set up authentication from your device to your Vector.
 
 Your device must have Python 3.6.1 or later installed. Please see the documentation pages mentioned below for instructions to install Python.
 
@@ -19,7 +19,7 @@ Check out the documentation for setup instructions by opening docs/build/html/in
 
 ---
 
-During setup, you will configure your `anki_vector` SDK authentication from a terminal using `configure.py`.
+During setup, you will configure your `anki_vector` SDK authentication from a terminal using `'python3 -m anki_vector.configure`.
 
 By running this script, you will be asked to provide your Anki account credentials, and the script will download an authentication token and cert that will grant you access to the robot and his capabilities (such as camera and audio) as well as data stored on the robot (such as faces and photos).
 

@@ -34,22 +34,21 @@
 functions for all the behaviors.
 """
 
-__all__ = ["BehaviorComponent", "MAX_HEAD_ANGLE", "MAX_LIFT_HEIGHT", "MAX_LIFT_HEIGHT_MM",
-           "MIN_HEAD_ANGLE", "MIN_LIFT_HEIGHT", "MIN_LIFT_HEIGHT_MM"]
+__all__ = ["MAX_HEAD_ANGLE", "MIN_HEAD_ANGLE",
+           "MAX_LIFT_HEIGHT", "MAX_LIFT_HEIGHT_MM", "MIN_LIFT_HEIGHT", "MIN_LIFT_HEIGHT_MM",
+           "BehaviorComponent"]
 
 
 from . import connection, objects, util
 from .messaging import protocol
 
 # Constants
 
-#: The minimum angle the robot's head can be set to
-# TODO Clamp to this value.
-MIN_HEAD_ANGLE = util.degrees(-22)
+#: The minimum angle the robot's head can be set to.
+MIN_HEAD_ANGLE = util.degrees(-22.0)
 
 #: The maximum angle the robot's head can be set to
-# TODO Clamp to this value.
-MAX_HEAD_ANGLE = util.degrees(45)
+MAX_HEAD_ANGLE = util.degrees(45.0)
 
 # The lowest height-above-ground that lift can be moved to in millimeters.
 MIN_LIFT_HEIGHT_MM = 32.0
@@ -390,7 +389,6 @@ async def turn_in_place(self,
 
         return await self.grpc_interface.TurnInPlace(turn_in_place_request)
 
-    # TODO Clamp angle to MIN_HEAD_ANGLE and MAX_HEAD_ANGLE.
     @connection.on_connection_thread()
     async def set_head_angle(self,
                              angle: util.Angle,
@@ -402,6 +400,7 @@ async def set_head_angle(self,
 
         :param angle: Desired angle for Vector's head.
             (:const:`MIN_HEAD_ANGLE` to :const:`MAX_HEAD_ANGLE`).
+            (we clamp it to this range internally).
         :param accel: Acceleration of Vector's head in radians per second squared.
         :param max_speed: Maximum speed of Vector's head in radians per second.
         :param duration: Time for Vector's head to move in seconds. A value
@@ -415,11 +414,24 @@ async def set_head_angle(self,
 
             import anki_vector
             from anki_vector.util import degrees
+            from anki_vector.behavior import MIN_HEAD_ANGLE, MAX_HEAD_ANGLE
 
             with anki_vector.Robot() as robot:
-                robot.behavior.set_head_angle(degrees(-22.0))
-                robot.behavior.set_head_angle(degrees(45.0))
+                # move head from minimum to maximum angle
+                robot.behavior.set_head_angle(MIN_HEAD_ANGLE)
+                robot.behavior.set_head_angle(MAX_HEAD_ANGLE)
+                # move head to middle
+                robot.behavior.set_head_angle(degrees(35.0))
         """
+        if angle < MIN_HEAD_ANGLE:
+            self.logger.warning("head angle %s too small, should be in %f..%f range - clamping",
+                                angle.degrees, MIN_HEAD_ANGLE.degrees, MAX_HEAD_ANGLE.degrees)
+            angle = MIN_HEAD_ANGLE
+        elif angle > MAX_HEAD_ANGLE:
+            self.logger.warning("head angle %s too large, should be in %f..%f range - clamping",
+                                angle.degrees, MIN_HEAD_ANGLE.degrees, MAX_HEAD_ANGLE.degrees)
+            angle = MAX_HEAD_ANGLE
+
         set_head_angle_request = protocol.SetHeadAngleRequest(angle_rad=angle.radians,
                                                               max_speed_rad_per_sec=max_speed,
                                                               accel_rad_per_sec2=accel,

@@ -704,7 +704,7 @@ async def log_handler(conn: Connection, func: Coroutine, logger: logging.Logger,
                 if not conn.requires_behavior_control:
                     raise VectorControlException(func.__name__)
                 logger.info(f"Delaying {func.__name__} until behavior control is granted")
-                await conn.control_granted_event.wait()
+                await asyncio.wait([conn.control_granted_event.wait()], timeout=10)
             logger.debug(f'Outgoing {func.__name__}: {args[1:] if log_messaging else "size = {} bytes".format(sys.getsizeof(args[1:]))}')
             try:
                 result = await func(*args, **kwargs)
@@ -735,7 +735,8 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
                 self.conn.active_commands.append(future)
 
                 def clear_when_done(fut):
-                    self.conn.active_commands.remove(fut)
+                    if fut in self.conn.active_commands:
+                        self.conn.active_commands.remove(fut)
                 future.add_done_callback(clear_when_done)
             if self.force_async:
                 return future