Show errors on output boxes

Author: IsabelParedes

ipynao/nao_robot.py

@@ -8,7 +8,7 @@
 TODO: Add module docstring
 """
 
-from ipywidgets import DOMWidget
+from ipywidgets import DOMWidget, Output
 from traitlets import Unicode, Integer
 from ._frontend import module_name, module_version
 import asyncio
@@ -20,9 +20,10 @@ class NaoRobotService():
     widget = None
     output = None
 
-    def __init__(self, widget, service_name):
+    def __init__(self, widget, service_name, output=Output()):
         self.name = service_name
         self.widget = widget
+        self.output = output
 
     def _create_msg(self, method_name, *args, **kwargs):
         data = {}
@@ -43,7 +44,9 @@ async def async_call_service(self, method_name, *args, **kwargs):
         self.widget.send(data)
 
         try:
-            await self.widget.wait_for_change('counter')
+            self.output.clear_output()
+            self.output.append_stdout("Calling service... \n")
+            await self.widget.wait_for_change('counter', self.output)
         except Exception as e:
             return e
         return self.widget.response
@@ -70,6 +73,7 @@ class NaoRobotWidget(DOMWidget):
     status = Unicode("Not busy").tag(sync=True)
     counter = Integer(0).tag(sync=True)
     response = None
+    js_error = None
 
 
     def __init__(self, **kwargs):
@@ -79,17 +83,26 @@ def __init__(self, **kwargs):
 
     def _handle_frontend_msg(self, model, msg, buffer):
         print("Received frontend msg: ", msg)
-        self.response = msg
+        if (msg["isError"]):
+            self.js_error = msg["data"]
+        else:
+            self.response = msg["data"]
 
 
-    def wait_for_change(widget, value_name):
+    def wait_for_change(widget, value_name, output=Output()):
         future = asyncio.Future()
         widget.response = None
+        widget.js_error = None
 
         def get_value_change(change):
             widget.unobserve(get_value_change, names=value_name)
-            if (widget.response != None):
-                future.set_result(widget.response)
+            if (widget.response != None or widget.js_error != None):
+                if (widget.js_error):
+                    future.set_exception(Exception(widget.js_error))
+                    output.append_stderr(widget.js_error)
+                else:
+                    future.set_result(widget.response)
+                    output.append_stdout(widget.response)
             else:
                 future.set_result(change)    
 
@@ -105,9 +118,9 @@ def connect(self, ip_address="nao.local", port="80"):
         self.send(data)
 
 
-    def service(self, service_name):
+    def service(self, service_name, output=Output()):
         data = {}
         data["command"] = str("createService")
         data["service"] = str(service_name)
         self.send(data)
-        return NaoRobotService(self, service_name)
+        return NaoRobotService(self, service_name, output)

src/widget.ts

@@ -140,8 +140,8 @@ export class NaoRobotModel extends DOMWidgetModel {
     // Wait for service to become available
     const sleep = (ms: number) => new Promise((r) => setTimeout(r, ms));
 
-    // Timeout after ~5 seconds
-    for (let i = 0; i < 50; i++) {
+    // Timeout after ~10 seconds
+    for (let i = 0; i < 100; i++) {
       if (this._services[serviceName] !== undefined) {
         console.log('Service available after ', i / 10.0, ' seconds.');
         break;
@@ -160,13 +160,18 @@ export class NaoRobotModel extends DOMWidgetModel {
     await servicePromise
       .then((resolution: any) => {
         this.changeStatus('Task completed');
-        if (resolution !== undefined) {
-          this.send(resolution);
-        }
+        this.send({
+          isError: false,
+          data: resolution ?? true
+        });
+        
       })
       .catch((rejection: string) => {
         this.changeStatus(rejection);
-        this.send(rejection);
+        this.send({
+          isError: true,
+          data: rejection
+        });
       });
 
     this.set('counter', this.get('counter') + 1);