Release 0.5.2

examples/create3_robots/cliff_sensors.py

@@ -0,0 +1,30 @@
+#
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2024 iRobot Corporation. All rights reserved.
+#
+
+from irobot_edu_sdk.backend.bluetooth import Bluetooth
+from irobot_edu_sdk.robots import event, Create3
+
+robot = Create3(Bluetooth())
+
+@event(robot.when_cliff_sensor, [True, False, False, False])
+async def cliff(robot):
+    print('Left')
+
+@event(robot.when_cliff_sensor, [False, True, False, False])
+async def cliff(robot):
+    print('Front Left')
+
+@event(robot.when_cliff_sensor, [False, False, True, False])
+async def cliff(robot):
+    print('Front Right')
+
+@event(robot.when_cliff_sensor, [False, False, False, True])
+async def cliff(robot):
+    print('Right')
+
+@event(robot.when_cliff_sensor, [True, True, True, True])
+async def cliff(robot):
+    print('There\'s a cliff!')
+
+robot.play()

examples/root_robots/cliff_sensor.py

@@ -0,0 +1,14 @@
+#
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2024 iRobot Corporation. All rights reserved.
+#
+
+from irobot_edu_sdk.backend.bluetooth import Bluetooth
+from irobot_edu_sdk.robots import event, Root
+
+robot = Root(Bluetooth())
+
+@event(robot.when_cliff_sensor, [True])
+async def cliff(robot):
+    print('There\'s a cliff!')
+
+robot.play()

examples/utils/create3_all_options.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2021-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2021-2024 iRobot Corporation. All rights reserved.
 #
 
 from irobot_edu_sdk.backend.bluetooth import Bluetooth
@@ -76,6 +76,11 @@ async def touched(robot):
     await robot.move(-2)
 
 
+@event(robot.when_cliff_sensor, [True, True, True, True])
+async def cliff(robot):
+    print('There\'s a cliff!')
+
+
 @event(robot.when_play)
 async def play(robot):
     print('play 1')

examples/utils/root_all_options.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2021-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2021-2024 iRobot Corporation. All rights reserved.
 #
 
 from irobot_edu_sdk.backend.bluetooth import Bluetooth
@@ -133,6 +133,11 @@ async def bright(robot):
     print('Things got brighter; sensor values are', await robot.get_light_values())
 
 
+@event(robot.when_cliff_sensor, [True])
+async def cliff(robot):
+    print('There\'s a cliff!')
+
+
 @event(robot.when_play)
 async def play(robot):
     print('play 1')

irobot_edu_sdk/create3.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2024 iRobot Corporation. All rights reserved.
 #
 
 import math
@@ -160,7 +160,7 @@ async def navigate_to(self, x: Union[int, float], y: Union[int, float], heading:
         self._responses[(dev, cmd, inc)] = completer
         await self._backend.write_packet(Packet(dev, cmd, inc, payload))
         timeout = self.DEFAULT_TIMEOUT + int(math.sqrt(x * x + y * y) / 10) + 4  # 4 is the timeout for a potential rotation.
-        packet = await completer.wait(self.DEFAULT_TIMEOUT)
+        packet = await completer.wait(timeout)
         if self.USE_ROBOT_POSE and packet:
             return self.pose.set_from_packet(packet)
         else:
@@ -224,3 +224,18 @@ async def get_version_string(self) -> str:
             return '.'.join([major, str(minor), str(patch)])
         except IndexError:
             return None
+
+    def get_touch_sensors_cached(self):
+        '''Returns list of most recently seen touch sensor state, or None if no event has happened yet'''
+        return super().get_touch_sensors_cached()[0:2]
+
+    def get_cliff_sensors_cached(self):
+        '''Returns tuple of most recently seen cliff sensor state'''
+        return (self.cliff_sensor.left, self.cliff_sensor.front_left,
+                self.cliff_sensor.front_right, self.cliff_sensor.right)
+
+    async def get_cliff_sensors(self):
+        '''Returns tuple of most recently seen cliff sensor state.
+           If there were a protocol getter, this would await that response when the cache is empty.
+        '''
+        return self.get_cliff_sensors_cached()

irobot_edu_sdk/getter_types.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2024 iRobot Corporation. All rights reserved.
 #
 
 import math
@@ -144,6 +144,10 @@ def __init__(self):
 class CliffSensor:
     def __init__(self):
         self.disable_motors = False
+        self.left = False
+        self.front_left = False
+        self.right = False
+        self.front_right = False
 
 
 class DockingSensor:

irobot_edu_sdk/robot.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2024 iRobot Corporation. All rights reserved.
 #
 
 try:
@@ -248,28 +248,42 @@ async def _when_touched_handler(self, packet: Packet):
 
             for event in self._when_touched:
                 # An empty condition list means to trigger the event on every occurrence.
-                not_condition = not event.condition
-                any = (not_condition and self.touch_sensors.front_left) or (not_condition and self.touch_sensors.front_right) or (
-                    not_condition and self.touch_sensors.back_left) or (not_condition and self.touch_sensors.back_right)
+                any = (not event.condition) and (self.touch_sensors.front_left or self.touch_sensors.front_right or
+                                                 self.touch_sensors.back_left or self.touch_sensors.back_right)
                 if any:
                     await event.run(self)
                 elif len(event.condition) > 1 and len(event.condition) < 3:
-                    if any or ((event.condition[0] and self.touch_sensors.front_left) or
-                               (event.condition[1] and self.touch_sensors.front_right)):
+                    if (  (event.condition[0] and self.touch_sensors.front_left) or
+                          (event.condition[1] and self.touch_sensors.front_right)):
                         await event.run(self)
                 elif len(event.condition) > 3:
-                    if any or ((event.condition[0] and self.touch_sensors.front_left) or
-                               (event.condition[1] and self.touch_sensors.front_right) or
-                               (event.condition[2] and self.touch_sensors.back_left) or
-                               (event.condition[3] and self.touch_sensors.back_right)):
+                    if (  (event.condition[0] and self.touch_sensors.front_left) or
+                          (event.condition[1] and self.touch_sensors.front_right) or
+                          (event.condition[2] and self.touch_sensors.back_left) or
+                          (event.condition[3] and self.touch_sensors.back_right)):
                         await event.run(self)
 
     async def _when_cliff_sensor_handler(self, packet: Packet):
-        self.cliff_sensor.disable_motors = packet.payload[4] != 0
+        if len(packet.payload) > 4:
+            self.cliff_sensor.disable_motors = packet.payload[4] != 0
+            self.cliff_sensor.right = packet.payload[4] & 0x01 != 0
+            self.cliff_sensor.front_right = packet.payload[4] & 0x02 != 0
+            self.cliff_sensor.front_left = packet.payload[4] & 0x04 != 0
+            self.cliff_sensor.left = packet.payload[4] & 0x08 != 0
 
-        for event in self._when_cliff_sensor:
-            # TODO: Add trigger
-            await event.run(self)
+            for event in self._when_cliff_sensor:
+                # An empty condition list means to trigger the event on every occurrence.
+                if not event.condition and self.cliff_sensor.disable_motors:  # Any.
+                    await event.run(self)
+                elif len(event.condition) > 0 and len(event.condition) < 3:
+                    if (event.condition[0] == self.cliff_sensor.disable_motors):
+                        await event.run(self)
+                elif len(event.condition) > 3:
+                    if ((event.condition[0] and self.cliff_sensor.left) or
+                        (event.condition[1] and self.cliff_sensor.front_left) or
+                        (event.condition[2] and self.cliff_sensor.front_right) or
+                        (event.condition[3] and self.cliff_sensor.right)):
+                        await event.run(self)
 
     # Event Callbacks.
 
@@ -297,7 +311,7 @@ def when_touched(self, condition: list[bool, bool, bool, bool], callback: Callab
         """Register when touch callback of type: async def fn(front_left: bool, front_right: bool, back_left: bool, back_right: bool)."""
         self._when_touched.append(Event(condition, callback))
 
-    def when_cliff_sensor(self, condition: list[bool], callback: Callable[[bool], Awaitable[None]]):
+    def when_cliff_sensor(self, condition: list[bool, bool, bool, bool], callback: Callable[[bool], Awaitable[None]]):
         """Register when cliff callback of type: async def fn(over_cliff: bool)."""
         self._when_cliff_sensor.append(Event(condition, callback))
 
@@ -632,11 +646,11 @@ async def say(self, phrase: str):
                 break
 
     def get_bumpers_cached(self):
-        '''Returns list of most recently seen bumper state, or None if no event has happened yet'''
+        '''Returns tuple of most recently seen bumper state, or None if no event has happened yet'''
         return (self.bumpers.left, self.bumpers.right)
 
     async def get_bumpers(self):
-        '''Returns list of most recently seen bumper state, or None if no event has happened yet.
+        '''Returns tuple of most recently seen bumper state, or None if no event has happened yet.
            If there were a protocol getter, this would await that response when the cache is empty.
         '''
         return self.get_bumpers_cached()
@@ -657,12 +671,12 @@ async def get_accelerometer(self):
         return None
 
     def get_touch_sensors_cached(self):
-        '''Returns list of most recently seen touch sensor state, or None if no event has happened yet'''
+        '''Returns tuple of most recently seen touch sensor state, or None if no event has happened yet'''
         return (self.touch_sensors.front_left, self.touch_sensors.front_right,
                 self.touch_sensors.back_left,  self.touch_sensors.back_right)
 
     async def get_touch_sensors(self):
-        '''Returns list of most recently seen touch sensor state, or None if no event has happened yet.
+        '''Returns tuple of most recently seen touch sensor state, or None if no event has happened yet.
            If there were a protocol getter, this would await that response when the cache is empty.
         '''
         return self.get_touch_sensors_cached()

irobot_edu_sdk/root.py

@@ -1,5 +1,5 @@
 #
-# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2023 iRobot Corporation. All rights reserved.
+# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2024 iRobot Corporation. All rights reserved.
 #
 
 import math
@@ -261,11 +261,27 @@ async def get_color_values(self, lighting: ColorLighting, data_format: ColorForm
         return tuple(values)
 
     def get_color_ids_cached(self):
-        '''Returns list of most recently seen color sensor IDs, or None if no event has happened yet'''
+        '''Returns tuple of most recently seen color sensor IDs, or None if no event has happened yet'''
         return tuple(self.color_sensor.colors) if self.color_sensor.colors != [] else None
 
     async def get_color_ids(self):
-        '''Returns list of most recently seen color sensor IDs, or None if no event has happened yet.
+        '''Returns tuple of most recently seen color sensor IDs, or None if no event has happened yet.
            If there were a protocol getter, this would await that response when the cache is empty.
         '''
         return self.get_color_ids_cached()
+
+    def get_cliff_sensors_cached(self):
+        '''Returns tuple of most recently seen cliff sensor state'''
+        return (self.cliff_sensor.disable_motors)
+
+    async def get_cliff_sensors(self):
+        '''Returns tuple of most recently seen cliff sensor state.
+           If there were a protocol getter, this would await that response when the cache is empty.
+        '''
+        return self.get_cliff_sensors_cached()
+
+    async def get_cliff_sensor(self):
+        '''Returns tuple of most recently seen cliff sensor state.
+           If there were a protocol getter, this would await that response when the cache is empty.
+        '''
+        return self.get_cliff_sensors_cached()

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "irobot_edu_sdk"
-version = "0.5.1"
+version = "0.5.2"
 description = "Python SDK for iRobot Edu robots"
 authors = ["iRobot Corporation <[email protected]>"]
 license = "BSD-3-Clause"