Clean up more

Author: IsabelParedes

ipynao/nao_robot.py

@@ -63,67 +63,30 @@ class NaoRobotWidget(DOMWidget):
     connected = Unicode("Disconnected").tag(sync=True)
     status = Unicode("Not busy").tag(sync=True)
     response = Unicode("").tag(sync=True)
-    counter = Integer(0).tag(sync=True, read_only=True)
+    counter = Integer(0).tag(sync=True)
     js_response = None
 
+
     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: ", msg)
         self.js_response = msg
 
-    def _handle_value_change(self, change):
-        print("HANDLE HANDLE HANDLE", change)
-        self.response = change['new']
 
     def wait_for_change(widget, value_name):
         future = asyncio.Future()
 
         def get_value_change(change):
             widget.unobserve(get_value_change, names=value_name)
-            # future.set_result(change['new'])
             future.set_result(widget.js_response)
 
         widget.observe(get_value_change, names=value_name)
-        return future
-    
-    async def set_after(self, future, delay):
-       
-        for i in range(25):
-            print(i, " Sleep a blink > ", self.response, '< response')
-            await asyncio.sleep(delay)
-            if (self.response != ''):
-                print("setting the future ", i)
-                future.set_result(self.response)
-                break
-
-        self.response = ''       
-
-
-    async def go_sleep(self, out, tSeconds=2):
-        data = {}
-        data["command"] = str("goSleep")
-        data["tSeconds"] = tSeconds
-        self.send(data)
-
-        try:
-            await self.wait_for_change('counter')
-        except Exception as e:
-            print('Something wrong: ', e)
-            out.append_stdout('something wrong' + str(e))
-
-
-        # loop = asyncio.get_running_loop()
-        # future = loop.create_future()
-        
-        # print("Go sleep ...")
-        # loop.create_task(self.set_after(future, 0.5))
+        return future    
 
-        # return future
-    
 
     def connect(self, ip_address="nao.local", port="80"):      
         data = {}

src/widget.ts

@@ -167,37 +167,9 @@ export class NaoRobotModel extends DOMWidgetModel {
     this.save_changes();
   }
 
-  async goSleep() {
-    this.changeStatus("Going to sleep.");
-    const sleep = (ms: number) => new Promise((r) => setTimeout(r, ms));
-
-    const motion = await this.qiSession.service("ALMotion");
-    let joints;
-    joints = await motion.getRobotConfig();
-    console.log('JOINTS: ', joints);
-    this.set('status', joints.toString());
-  
-
-    await sleep(3000);
-    this.set('counter', this.get('counter') + 1);
-
-   
-    this.changeStatus("Slept for a second");
-    this.set('status', 'RES: 1 second');
-    this.save_changes();
-    // this.send('JS: first message');
-
-  }
-
   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':
         await this.connect(commandData['ipAddress'], commandData['port']);
@@ -212,7 +184,6 @@ export class NaoRobotModel extends DOMWidgetModel {
         break;
 
       case 'callService':
-        console.log('RECEIVING COMMAND FOR SERVICE');
         await this.callService(
           commandData['service'],
           commandData['method'],
@@ -222,7 +193,6 @@ export class NaoRobotModel extends DOMWidgetModel {
         break;
     }
 
-    console.log('End of OnCommand');
   }
 
   static serializers: ISerializers = {