Changed initialization of sensors to avoid need for import *

Charles Weir · Charles Weir · commit 078c1aac1422 · 2014-03-02T19:12:08.000Z
diff --git a/BrickPython/BrickPiWrapper.py b/BrickPython/BrickPiWrapper.py
@@ -4,28 +4,28 @@
 
 from Motor import Motor
 from Sensor import Sensor
-from BrickPi import *
+import BrickPi as BP
 from Scheduler import Scheduler
 
-
 class BrickPiWrapper(Scheduler):
     '''
     This extends the Scheduler with functionality specific to the BrickPi
 
-    The constructor takes a map giving the sensor type connected to each port: PORT_1 through PORT_4.
-        E.g. BrickPiWrapper( {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT} )
+    The constructor takes a map giving the sensor type connected to each port: 1 through 5.
+        E.g. BrickPiWrapper( {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT} )
 
     Motors and sensors are identified by their port names: motors are A to D; sensors 1 to 5.
     '''
-    def __init__(self, portTypes = [] ):
+    def __init__(self, portTypes = {} ):
         Scheduler.__init__(self)
-        self.motors = { 'A': Motor(PORT_A, self), 'B': Motor(PORT_B, self), 'C': Motor(PORT_C, self), 'D': Motor(PORT_D, self) }
-        self.sensors = { '1': Sensor( PORT_1 ), '2': Sensor( PORT_2 ), '3': Sensor( PORT_3 ), '4': Sensor( PORT_4 ) }
-        BrickPiSetup()  # setup the serial port for communication
+        self.motors = { 'A': Motor(BP.PORT_A, self), 'B': Motor(BP.PORT_B, self), 'C': Motor(BP.PORT_C, self), 'D': Motor(BP.PORT_D, self) }
+        self.sensors = { '1': Sensor( BP.PORT_1 ), '2': Sensor( BP.PORT_2 ), '3': Sensor( BP.PORT_3 ), '4': Sensor( BP.PORT_4 ) }
+        BP.BrickPiSetup()  # setup the serial port for communication
 
         for port in portTypes:
-            BrickPi.SensorType[port] = portTypes[port]
-        BrickPiSetupSensors()       #Send the properties of sensors to BrickPi
+            portNum = Sensor.portNumFromId(port)
+            BP.BrickPi.SensorType[portNum] = portTypes[port]
+        BP.BrickPiSetupSensors()       #Send the properties of sensors to BrickPi
 
         self.setUpdateCoroutine( self.updaterCoroutine() )
 
@@ -43,21 +43,21 @@ def update(self):
         # Communicates with the BrickPi processor, sending current motor settings, and receiving sensor values.
         global BrickPi
         for motor in self.motors.values():
-            BrickPi.MotorEnable[motor.port] = int(motor.enabled())
-            BrickPi.MotorSpeed[motor.port] = motor.power()
+            BP.BrickPi.MotorEnable[motor.port] = int(motor.enabled())
+            BP.BrickPi.MotorSpeed[motor.port] = motor.power()
 
         # Updates sensor readings, motor locations, and motor power settings.
         # Takes about 6ms.
-        BrickPiUpdateValues()
+        BP.BrickPiUpdateValues()
 
         for motor in self.motors.values():
-            position = BrickPi.Encoder[motor.port]
+            position = BP.BrickPi.Encoder[motor.port]
             if not isinstance( position, ( int, long ) ):  # For mac
                 position = 0
             motor.updatePosition( position )
 
         for sensor in self.sensors.values():
-            value = BrickPi.Sensor[sensor.port]
+            value = BP.BrickPi.Sensor[sensor.port]
             if not isinstance( value, ( int, long ) ):  # For mac
                 value = 0
             sensor.updateValue( value )
diff --git a/BrickPython/CommandLineApplication.py b/BrickPython/CommandLineApplication.py
@@ -3,18 +3,17 @@
 #
 # Copyright (c) 2014 Charles Weir.  Shared under the MIT Licence.
 
-import Tkinter as tk
 
-from BrickPiWrapper import *
-import logging
+from BrickPiWrapper import BrickPiWrapper
+import time
 
 class CommandLineApplication(BrickPiWrapper):
     '''
     Main application class for command-line only apps.  Doesn't support user input.
     '''
 
     def __init__(self, sensorConfiguration={}):
-        '''Initialization: *sensorConfiguration* is a map, e.g. {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT }
+        '''Initialization: *sensorConfiguration* is a map, e.g. {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT}
         as passed to BrickPiWrapper'''
         BrickPiWrapper.__init__(self, sensorConfiguration )
 
diff --git a/BrickPython/Sensor.py b/BrickPython/Sensor.py
@@ -2,16 +2,29 @@
 #
 # Copyright (c) 2014 Charles Weir.  Shared under the MIT Licence.
 
-#TODO: Remove need for clients to import * from BrickPython by
-# getting rid of the use of PORT_* values in the interfaces,
-# and duplicating TYPE_SENSOR_ULTRASONIC_CONT etc as static members of class Sensor.
+import BrickPi
 
 class Sensor():
-    '''Sensor, representing a sensor attached to one of the BrickPi ports.'''
+    '''Sensor, representing a sensor attached to one of the BrickPi ports.
+    *port* may be either a PORT_ value or an integer '1'-'5'
+
+    There are class attributes with the types defined in the BrickPi module:
+        Sensor.TYPE_SENSOR_ULTRASONIC_CONT
+    These are configured in the initialization parameters to BrickPiWrapper (and derived classes)
+
+    '''
+
+    @staticmethod
+    def portNumFromId(portNumOrIdChar):
+        # Answers the port number given either value.
+        if (not isinstance(portNumOrIdChar, int)):
+            return int(portNumOrIdChar) - 1
+        return portNumOrIdChar
+
     def __init__(self, port):
-        self.port = port
+        self.port = Sensor.portNumFromId(port)
         #: Character identifying the sensor: 1 through 5.
-        self.idChar = chr(port + ord('1'))
+        self.idChar = chr(self.port + ord('1'))
         #: Array of the *maxRecentValues* most recent sensor readings
         self.recentValues = [0]
         #: How many sensor readings to store
@@ -33,4 +46,8 @@ def value(self):
     def __repr__(self):
         return "Sensor %s: %r" % (self.idChar, self.recentValues)
 
+# Put the sensor types (which are globals in BrickPi) to be attributes of Sensor
 
+for name in dir(BrickPi):
+    if name.startswith('TYPE_'):
+        setattr(Sensor, name, getattr(BrickPi, name))
diff --git a/BrickPython/TkApplication.py b/BrickPython/TkApplication.py
@@ -21,7 +21,7 @@ class TkApplication(BrickPiWrapper):
     '''
 
     def __init__(self, sensorConfiguration={}):
-        '''Initialization: *sensorConfiguration* is a map, e.g. {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT }
+        '''Initialization: *sensorConfiguration* is a map, e.g. {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT}
         as passed to BrickPiWrapper'''
         BrickPiWrapper.__init__(self, sensorConfiguration )
         self.root = tk.Tk()
diff --git a/ExamplePrograms/DoorControl.py b/ExamplePrograms/DoorControl.py
@@ -4,7 +4,8 @@
 # Copyright (c) 2014 Charles Weir.  Shared under the MIT Licence.
 
 import sortOutPythonPaths
-from BrickPython.TkApplication import *
+from BrickPython.TkApplication import TkApplication
+from BrickPython.Sensor import Sensor
 import logging
 
 class DoorControlApp(TkApplication):
@@ -17,7 +18,7 @@ class DoorControlApp(TkApplication):
     '''
 
     def __init__(self):
-        TkApplication.__init__(self, {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT })
+        TkApplication.__init__(self, {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT })  # Compiler doesn't know these types.
         self.doorLocked = False
         self.addSensorCoroutine( self.openDoorWhenSensorDetected() )
 
diff --git a/ExamplePrograms/MotorController.py b/ExamplePrograms/MotorController.py
@@ -4,8 +4,9 @@
 # Copyright (c) 2014 Charles Weir.  Shared under the MIT Licence.
 
 import sortOutPythonPaths
-from BrickPython.TkApplication import *
+from BrickPython.TkApplication import TkApplication
 from BrickPython.Motor import PIDSetting
+from BrickPython.Sensor import Sensor
 import logging
 
 class MotorControllerApp(TkApplication):
@@ -23,7 +24,7 @@ class MotorControllerApp(TkApplication):
     '''
 
     def __init__(self):
-        TkApplication.__init__(self, {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT })
+        TkApplication.__init__(self, {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT }) # Compiler doesn't know these types.
         self.pidSetting = PIDSetting()
 
     def rotate(self, degrees):
diff --git a/doBuild b/doBuild
@@ -13,4 +13,5 @@ python setup.py test
 
 echo '>> Upload docs to pypi from' `pwd`/docs/generated/Archive.zip
 echo '>> Form at the bottom of https://pypi.python.org/pypi?%3Aaction=pkg_edit&name=BrickPython'
-echo '>> To release module to pypi:  python setup.py sdist upload'
+echo '>> To release module to pypi:  python setup.py sdist upload'
+echo '>> To install without releasing: pip install -e .'
diff --git a/docs/introduction.rst b/docs/introduction.rst
@@ -129,7 +129,7 @@ The :class:`.Motor` class implements methods to record and calculate the current
 to position itself accurately to a couple of degrees.  There's also a 'constant speed' coroutine :meth:`.Motor.setSpeed()`.
 
 The :class:`.Sensor` class simply keeps a record, :attr:`.Sensor.recentValues`, of the last few readings; its method :meth:`.Sensor.value()` answers the most recent one.  The type of each sensor
-is set up via the initialization parameter to :class:`.BrickPiWrapper` (or :class:`.TkApplication`).
+is set up via the initialization parameter to :class:`.BrickPiWrapper` (via :class:`.TkApplication` or :class:`.CommandLineApplication`).
 
 Example Applications
 ====================
diff --git a/test/TestBrickPiWrapper.py b/test/TestBrickPiWrapper.py
@@ -14,7 +14,8 @@
 
 
 from BrickPython.BrickPiWrapper import BrickPiWrapper
-from BrickPython.BrickPi import *
+from BrickPython.BrickPi import BrickPi, PORT_1, TYPE_SENSOR_ULTRASONIC_CONT
+from BrickPython.Sensor import Sensor
 import unittest
 
 
@@ -45,6 +46,9 @@ def testSensorSetup(self):
         bp = BrickPiWrapper( {PORT_1: TYPE_SENSOR_ULTRASONIC_CONT} )
         assert( BrickPi.SensorType[PORT_1] == TYPE_SENSOR_ULTRASONIC_CONT)
 
+    def testSensorSetupBetterScopingSyntax(self):
+        bp = BrickPiWrapper( {'1': Sensor.TYPE_SENSOR_ULTRASONIC_CONT} )
+        self.assertEquals( BrickPi.SensorType[PORT_1], TYPE_SENSOR_ULTRASONIC_CONT)
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/test/TestSensor.py b/test/TestSensor.py
@@ -3,14 +3,15 @@
 # Copyright (c) 2014 Charles Weir.  Shared under the MIT Licence.
 
 import unittest
-from BrickPython.BrickPiWrapper import PORT_1
+from BrickPython.BrickPi import PORT_1
 from BrickPython.Sensor import Sensor
 
 class TestSensor(unittest.TestCase):
     'Test for the Sensor object'
 
     def testSensor(self):
         sensor = Sensor( PORT_1 )
+        self.assertEquals(sensor.port, PORT_1)
         assert( sensor.idChar == '1' )
         assert( sensor.value() == 0 )
         sensor.updateValue( 3 )
@@ -23,6 +24,12 @@ def testSensor(self):
     def testSensorTextRepresentation(self):
         self.assertEquals( repr(Sensor( PORT_1 ) ), 'Sensor 1: [0]')
 
+    def testBetterSensorInitSyntax(self):
+        sensor = Sensor( '1' )
+        self.assertEquals(sensor.port, PORT_1)
+        self.assertEquals( sensor.idChar, '1' )
+        assert( sensor.value() == 0 )
+
 if __name__ == '__main__':
     unittest.main()
 
