Some waiting with result

Author: IsabelParedes

ipynao/nao_robot.py

@@ -11,10 +11,11 @@
 from ipywidgets import DOMWidget
 from traitlets import Unicode, Bool
 from ._frontend import module_name, module_version
-
+from time import sleep
 import asyncio
 
 
+
 class NaoRobotService():
     name = None
     widget = None
@@ -24,6 +25,7 @@ def __init__(self, widget, service_name):
         self.widget = widget
 
     def create_service_msg(self, method_name, *args, **kwargs):
+        self.widget._response = None
         data = {}
         data["command"] = "callService"
         data["service"] = str(self.name)
@@ -35,7 +37,6 @@ def create_service_msg(self, method_name, *args, **kwargs):
         self.widget.send(data)
 
     def __getattr__(self, method_name):
-        # TODO: some very basic input validation (maybe)
         return lambda *x, **y: self.create_service_msg(method_name, *x, **y)
 
 
@@ -49,6 +50,7 @@ class NaoRobotWidget(DOMWidget):
     _view_module = Unicode(module_name).tag(sync=True)
     _view_module_version = Unicode(module_version).tag(sync=True)
 
+    _response = None
     value = Unicode('Hello World').tag(sync=True)
     connected = Unicode("Disconnected").tag(sync=True)
     status = Unicode("Not busy").tag(sync=True)
@@ -57,11 +59,16 @@ class NaoRobotWidget(DOMWidget):
     def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.on_msg(self._handle_frontend_msg)
+        self.observe(self._handle_value_change, names="status")
 
     def _handle_frontend_msg(self, model, msg, buffer):
         print("Received frontend msg: ")
         print(msg)
-        # TODO:
+        self._response = msg
+
+    def _handle_value_change(self, change):
+        print("HANDLE HANDLE HANDLE", change)
+        self.status = change['new']
 
     def wait_for_change(widget, value_name):
         future = asyncio.Future()
@@ -72,6 +79,19 @@ def get_value_change(change):
 
         widget.observe(get_value_change, names=value_name)
         return future
+    
+    async def set_after(self, future, delay, value):
+        self._response = None
+        
+        for i in range(15):
+            print(i, " Sleep a blink ... ", self.status)
+            await asyncio.sleep(delay)
+            print("fjdlkjf")
+            if i == 10:
+                print("setting the future")
+                future.set_result(self._response)
+        
+        self._response = None
 
 
     async def go_sleep(self, tSeconds=2):
@@ -80,7 +100,13 @@ async def go_sleep(self, tSeconds=2):
         data["tSeconds"] = tSeconds
         self.send(data)
 
-        return self.wait_for_change("synco")
+        loop = asyncio.get_running_loop()
+        future = loop.create_future()
+        
+        print("hello ...")
+        loop.create_task(self.set_after(future, 0.1, '... world'))
+
+        return future
 
 
     def connect(self, ip_address="nao.local", port="80"):      

src/widget.ts

@@ -105,14 +105,6 @@ export class NaoRobotModel extends DOMWidgetModel {
     this.changeStatus('Unavailable');
   }
 
-  async Testing() {
-    this.qiSession = new QiSession();
-    const tts = await this.qiSession.service('ALTextToSpeech');
-    // let msg : any = Object.getOwnPropertyNames(tts);
-    const aThing: any = this.send(tts);
-    console.log('A thing: ', aThing);
-    console.log('JS sent something');
-  }
 
   private async createService(
     serviceName: string,
@@ -149,24 +141,58 @@ export class NaoRobotModel extends DOMWidgetModel {
       return;
     }
 
+    let serviceResponse;
     this.changeStatus('Running method ' + methodName);
 
     const servicePromise = this._services[serviceName][methodName](...args);
-    await servicePromise.then(
-      () => {
+    serviceResponse = await servicePromise.then(
+      (resolution: any) => {
         this.changeStatus('Task completed');
+        return resolution;
       }
     ).catch(
       (rejection: string) => {
         this.changeStatus(rejection);
       }
     );
 
+    console.log("OOO received response ", serviceResponse);
+    if (serviceResponse !== undefined) {
+      this.send(serviceResponse);
+    }
+  }
+
+  async goSleep() {
+    this.changeStatus("Going to sleep.");
+    const sleep = (ms: number) => new Promise((r) => setTimeout(r, ms));
+
+    await sleep(1000);
+    this.changeStatus("Slept for a second");
+    this.set('synco', '1 second');
+    this.save_changes();
+    this.send('its been a second');
+
+    await sleep(1000);
+    this.changeStatus("Slept for 2 seconds");
+    this.set('synco', '2 seconds');
+    this.save_changes();
+    this.send('its been 2 whole seconds');
+
+    await sleep(1000);
+    this.changeStatus("All awake now");
+    this.set('synco', '3 seconds');
+    this.save_changes();
+    this.send('its been too long');
   }
 
   private async onCommand(commandData: any, buffers: any) {
     console.log('REMOVE onCommand', commandData);
     const cmd = commandData['command'];
+    
+    if (cmd === "goSleep") {
+      await this.goSleep();
+      return;
+    }
 
     switch (cmd) {
       case 'connect':
@@ -200,7 +226,6 @@ export class NaoRobotModel extends DOMWidgetModel {
     // Add any extra serializers here
   };
 
-  // var qiSession = // TODO:
   static model_name = 'NaoRobotModel';
   static model_module = MODULE_NAME;
   static model_module_version = MODULE_VERSION;
@@ -232,10 +257,6 @@ export class NaoRobotView extends DOMWidgetView {
     this.synco.textContent = 'it should be here';
     this.el.appendChild(this.synco);
 
-    console.log('RENDERING');
-    console.log(this.model.get('connected'), ' CONNECTED');
-    console.log(this.model.get('synco'), ' SYNCO');
-
     this.value_changed();
     this.model.on('change:connected', this.value_changed, this);
     this.model.on('change:status', this.value_changed, this);