VIC-14350 Sample code fixes (#182)

Author: msintov

anki_vector/annotate.py

@@ -92,13 +92,33 @@ class ImageText:  # pylint: disable=too-few-public-methods
 
     .. testcode::
 
+        import time
+
+        try:
+            from PIL import ImageDraw
+        except ImportError:
+            sys.exit("run `pip3 install --user Pillow numpy` to run this example")
+
         import anki_vector
         from anki_vector import annotate
-        with anki_vector.Robot(show_viewer=True) as robot:
-            text = annotate.ImageText("Text Annotations",
+
+
+        # Define an annotator using the annotator decorator
+        @annotate.annotator
+        def clock(image, scale, annotator=None, world=None, **kw):
+            d = ImageDraw.Draw(image)
+            bounds = (0, 0, image.width, image.height)
+            text = annotate.ImageText(time.strftime("%H:%m:%S"),
                                       position=annotate.AnnotationPosition.TOP_LEFT,
                                       outline_color="black")
-            robot.camera.image_annotator.add_static_text("custom-text", text)
+            text.render(d, bounds)
+
+        with anki_vector.Robot(show_viewer=True, enable_face_detection=True, enable_custom_object_detection=True) as robot:
+            robot.camera.image_annotator.add_static_text("text", "Vec-Cam", position=annotate.AnnotationPosition.TOP_RIGHT)
+            robot.camera.image_annotator.add_annotator("clock", clock)
+
+            time.sleep(3)
+
 
     :param text: The text to display; may contain newlines
     :param position: Where on the screen to render the text
@@ -401,6 +421,7 @@ class ImageAnnotator:
 
         import anki_vector
         from anki_vector import annotate
+        import time
 
         @annotate.annotator
         def clock(image, scale, annotator=None, world=None, **kw):
@@ -416,7 +437,7 @@ def clock(image, scale, annotator=None, world=None, **kw):
             robot.camera.image_annotator.add_annotator("custom-annotator", clock)
             time.sleep(5)
             # Disable the custom annotator
-            robot.camera.image_annotator.disable_annotator("custom-annotator", clock)
+            robot.camera.image_annotator.disable_annotator("custom-annotator")
             time.sleep(5)
     """
 

anki_vector/audio.py

@@ -61,10 +61,12 @@ class AudioComponent(util.Component):
     The :class:`anki_vector.robot.Robot` or :class:`anki_vector.robot.AsyncRobot` instance
     owns this audio component.
 
-    .. code-block:: python
+    .. testcode::
+
+        import anki_vector
 
         with anki_vector.Robot() as robot:
-            robot.audio.stream_wav_file('sounds/vector_alert.wav')
+            robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
     """
 
     # TODO restore audio feed code when ready
@@ -82,7 +84,7 @@ async def set_master_volume(self, volume: RobotVolumeLevel) -> protocol.MasterVo
 
         Note that muting the robot is not supported from the SDK.
 
-        .. code-block:: python
+        .. testcode::
 
             import anki_vector
             from anki_vector import audio
@@ -160,10 +162,12 @@ async def _request_handler(self, reader, params, volume):
     async def stream_wav_file(self, filename, volume=50):
         """ Plays audio using Vector's speakers.
 
-        .. code-block:: python
+        .. testcode::
+
+            import anki_vector
 
             with anki_vector.Robot() as robot:
-                robot.audio.stream_wav_file('sounds/vector_alert.wav')
+                robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
 
         :param filename: the filename/path to the .wav audio file
         :param volume: the audio playback level (0-100)

anki_vector/behavior.py

@@ -950,22 +950,17 @@ class ReserveBehaviorControl():
             import anki_vector
             from anki_vector import behavior
 
-            args = anki_vector.util.parse_command_args()
-            with behavior.ReserveBehaviorControl(args.serial):
+            with behavior.ReserveBehaviorControl():
 
                 # At this point, Vector will remain still, even without
                 # a Robot instance being in scope.
 
-                ...
-
                 # take control of the robot as usual
                 with anki_vector.Robot() as robot:
 
                     robot.anim.play_animation("anim_turn_left_01")
 
-                # Robot will not perform idle behaviors until the script completes
-
-                ...
+                   # Robot will not perform idle behaviors until the script completes
 
     :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on
                    the underside of Vector, or accessible from Vector's debug screen. Used to

anki_vector/events.py

@@ -304,7 +304,6 @@ def on_robot_observed_face(robot, event_type, event, evt):
                     robot.behavior.say_text("I see a face!")
                     evt.set()
 
-            args = anki_vector.util.parse_command_args()
             with anki_vector.Robot(enable_face_detection=True) as robot:
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
@@ -389,7 +388,6 @@ def on_robot_observed_face(robot, event_type, event, evt):
                     robot.behavior.say_text("I see a face!")
                     evt.set()
 
-            args = anki_vector.util.parse_command_args()
             with anki_vector.Robot(enable_face_detection=True) as robot:
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face

anki_vector/faces.py

@@ -75,11 +75,7 @@ def handle_face_observed(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face: The Face instance that was observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
@@ -135,11 +131,7 @@ def handle_face_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face:'The Face instance that appeared
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
@@ -186,11 +178,7 @@ def handle_face_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face: The Face instance that is no longer being observed
     """

anki_vector/objects.py

@@ -94,11 +94,7 @@ def handle_object_observed(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that was observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
@@ -148,11 +144,7 @@ def handle_object_appeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that is starting to be observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
@@ -181,8 +173,7 @@ def handle_object_disappeared(robot, event_type, event):
             # whenever an Object goes out of view.
             print(f"--------- Vector stopped seeing an object --------- \\n{event.obj}")
 
-        with anki_vector.Robot(args.serial,
-                               default_logging=False,
+        with anki_vector.Robot(default_logging=False,
                                show_viewer=True,
                                show_3d_viewer=True,
                                enable_nav_map_feed=True) as robot:
@@ -194,11 +185,7 @@ def handle_object_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that is no longer being observed
     """
@@ -1163,8 +1150,8 @@ def descriptive_name(self) -> str:
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                if robot.world.charger.is_visible:
-                    print(f"{obot.world.charger.descriptive_name}")
+                if robot.world.charger:
+                    print(f"{robot.world.charger.descriptive_name}")
         """
         return f"{self.__class__.__name__} id={self._object_id}"
 

anki_vector/proximity.py

@@ -141,7 +141,7 @@ class ProximityComponent(util.Component):
         with anki_vector.Robot() as robot:
             proximity_data = robot.proximity.last_sensor_reading
             if proximity_data is not None:
-                print('Proximity distance: {0}, engine considers useful: {1}'.format(proximity_data.distance, proximity_data.is_valid))
+                print('Proximity distance: {0}'.format(proximity_data.distance))
     """
 
     def __init__(self, robot):

anki_vector/user_intent.py

@@ -140,27 +140,25 @@ class UserIntent:
         from anki_vector.events import Events
         from anki_vector.user_intent import UserIntent, UserIntentEvent
 
-        def main():
-            def on_user_intent(robot, event_type, event, done):
-                user_intent = UserIntent(event)
-                if user_intent.intent_event is UserIntentEvent.weather_response:
-                    data = json.loads(user_intent.intent_data)
-                        print(f"Weather report for {data['speakableLocationString']}: "
-                              f"{data['condition']}, temperature {data['temperature']} degrees")
-                        done.set()
-
-            args = anki_vector.util.parse_command_args()
-            with anki_vector.Robot(args.serial) as robot:
-                done = threading.Event()
-                robot.events.subscribe(on_user_intent, Events.user_intent, done)
-
-                print('------ Vector is waiting to be asked "Hey Vector!  What is the weather report?" Press ctrl+c to exit early ------')
-
-                try:
-                    if not done.wait(timeout=10):
-                        print('------ Vector never heard a request for the weather report ------')
-                except KeyboardInterrupt:
-                    pass
+        def on_user_intent(robot, event_type, event, done):
+            user_intent = UserIntent(event)
+            if user_intent.intent_event is UserIntentEvent.weather_response:
+                data = json.loads(user_intent.intent_data)
+                print(f"Weather report for {data['speakableLocationString']}: "
+                      f"{data['condition']}, temperature {data['temperature']} degrees")
+                done.set()
+
+        with anki_vector.Robot() as robot:
+            done = threading.Event()
+            robot.events.subscribe(on_user_intent, Events.user_intent, done)
+
+            print('------ Vector is waiting to be asked "Hey Vector!  What is the weather report?" Press ctrl+c to exit early ------')
+
+            try:
+                if not done.wait(timeout=10):
+                    print('------ Vector never heard a request for the weather report ------')
+            except KeyboardInterrupt:
+                pass
 
     :param event: an event containing UserIntent data
     """

anki_vector/vision.py

@@ -166,13 +166,9 @@ def on_robot_observed_motion(robot, event_type, event):
 
                 robot.vision.enable_motion_detection(detect_motion=True)
 
-                print("\n\nVector is waiting to see motion. Make some movement within Vector's camera view.\n\n")
+                print("Vector is waiting to see motion. Make some movement within Vector's camera view")
 
-                try:
-                    while True:
-                        time.sleep(0.5)
-                except KeyboardInterrupt:
-                    pass
+                time.sleep(3.0)
 
             robot.events.unsubscribe(on_robot_observed_motion, Events.robot_observed_motion)
         """

anki_vector/world.py

@@ -268,7 +268,7 @@ def charger(self) -> objects.Charger:
             # First, place Vector directly in front of his charger so he can observe it.
 
             with anki_vector.Robot() as robot:
-                print('most recently observed charger: {0}.'.format(robot.world.charger))
+                print('Most recently observed charger: {0}'.format(robot.world.charger))
         """
         if self._charger is not None:
             return self._charger
@@ -323,8 +323,7 @@ def get_face(self, face_id: int) -> faces.Face:
 
             def test_subscriber(robot, event_type, event):
                 for face in robot.world.visible_faces:
-                    my_face = robot.world.get_face(face.face_id)
-                    print(f"Name: {my_face.name}")
+                    print(f"Face id: {face.face_id}")
 
             with anki_vector.Robot(enable_face_detection=True) as robot:
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
@@ -336,7 +335,7 @@ def test_subscriber(robot, event_type, event):
 
                 print("------ show vector your face, press ctrl+c to exit early ------")
                 try:
-                    time.sleep(10)
+                    time.sleep(5)
                 except KeyboardInterrupt:
                     robot.disconnect()
         """