Merge branch 'release/v0.3.1'

boobooboo2 · boobooboo2 · commit c505e84cceef · 2025-01-07T10:44:39.000+09:00
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
@@ -19,7 +19,7 @@ jobs:
     - name: Install Python
       uses: actions/setup-python@v2
       with:
-        python-version: '3.7'
+        python-version: '3.8'
         architecture: 'x64'
 
     - name: install-dependencies
diff --git a/.github/workflows/unit_test_macos.yml b/.github/workflows/unit_test_macos.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/unit_test_ubuntu.yml b/.github/workflows/unit_test_ubuntu.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/unit_test_windows.yml b/.github/workflows/unit_test_windows.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/MANIFEST.in b/MANIFEST.in
@@ -7,6 +7,7 @@ include README.md
 include about.py
 
 include requirements.txt
+include requirements-dev.txt
 
 recursive-include modi_plus/assets *
 recursive-include modi_plus/task/ble_task *
diff --git a/examples/basic_usage_examples/display_example.py b/examples/basic_usage_examples/display_example.py
@@ -17,7 +17,7 @@
     pos = (20, 30)
 
     for i in range(500):
-        display.write_variable(0, pos[0], pos[1])
+        display.write_variable_xy(pos[0], pos[1], 0)
         pos = (pos[0] + vel[0], pos[1] + vel[1])
         if pos[0] < 0 or pos[0] > 40:
             vel = (-vel[0], vel[1])
diff --git a/examples/basic_usage_examples/env_example.py b/examples/basic_usage_examples/env_example.py
@@ -12,5 +12,5 @@
 
     while True:
         print(f"humidity(%): {env.humidity:<10} temperature(°C): {env.temperature:<10} "
-              f"intensity(%): {env.intensity:<10} Volume(%): {env.volume:<10}", end="\r")
+              f"illuminance(%): {env.illuminance:<10} Volume(%): {env.volume:<10}", end="\r")
         time.sleep(0.02)
diff --git a/examples/basic_usage_examples/imu_example.py b/examples/basic_usage_examples/imu_example.py
@@ -11,9 +11,9 @@
     imu = bundle.imus[0]
 
     while True:
-        print(f"Pitch: {imu.pitch:<10}"
-              f"Roll: {imu.roll:<10}"
-              f"Yaw: {imu.yaw:<10}"
+        print(f"Angle_y: {imu.angle_y:<10}"
+              f"Angle_x: {imu.angle_x:<10}"
+              f"Angle_z: {imu.angle_z:<10}"
               f"Vel x: {imu.angular_vel_x:<10}"
               f"Vel y: {imu.angular_vel_y:<10}"
               f"Vel z: {imu.angular_vel_z:<10}"
diff --git a/examples/creation_examples/brush.py b/examples/creation_examples/brush.py
@@ -15,8 +15,8 @@ def setup(self):
 
     def update(self):
         h, w = self.height // 2, self.width // 2
-        self.cursor.y = h - h * sin(radians(-self.imu.roll))
-        self.cursor.x = w - w * sin(radians(-self.imu.pitch))
+        self.cursor.y = h - h * sin(radians(-self.imu.angle_x))
+        self.cursor.x = w - w * sin(radians(-self.imu.angle_y))
         if self.button.pressed:
             self.add_object(Brush((self.cursor.x, self.cursor.y), "x"))
 
diff --git a/examples/creation_examples/dodge.py b/examples/creation_examples/dodge.py
@@ -34,10 +34,10 @@ def setup(self):
         self.fire.x, self.fire.y = 25, 20
 
     def update(self):
-        pitch = -self.imu.pitch
-        if pitch < -5 and self.player.x < 48:
+        angle_y = -self.imu.angle_y
+        if angle_y < -5 and self.player.x < 48:
             self.player.x += 30 * self.delta_time
-        elif pitch > 5 and self.player.x > 0:
+        elif angle_y > 5 and self.player.x > 0:
             self.player.x -= 30 * self.delta_time
         self.fire.y -= 15 * self.delta_time
         if self.fire.y < 0:
diff --git a/modi_plus/about.py b/modi_plus/about.py
@@ -1,5 +1,5 @@
 __title__ = "pymodi-plus"
-__version__ = "0.3.0"
+__version__ = "0.3.1"
 __author__ = "LUXROBO"
 __email__ = "module.dev@luxrobo.com"
 __description__ = "Python API for controlling modular electronics, MODI+."
diff --git a/modi_plus/module/input_module/env.py b/modi_plus/module/input_module/env.py
@@ -8,20 +8,20 @@ class Env(InputModule):
 
     PROPERTY_ENV_STATE = 2
 
-    PROPERTY_OFFSET_INTENSICY = 0
+    PROPERTY_OFFSET_ILLUMINANCE = 0
     PROPERTY_OFFSET_TEMPERATURE = 2
     PROPERTY_OFFSET_HUMIDITY = 4
     PROPERTY_OFFSET_VOLUME = 6
 
     @property
-    def intensity(self) -> int:
-        """Returns the value of intensity between 0 and 100
+    def illuminance(self) -> int:
+        """Returns the value of illuminance between 0 and 100
 
-        :return: The environment's intensity.
+        :return: The environment's illuminance.
         :rtype: int
         """
 
-        offset = Env.PROPERTY_OFFSET_INTENSICY
+        offset = Env.PROPERTY_OFFSET_ILLUMINANCE
         raw = self._get_property(Env.PROPERTY_ENV_STATE)
         data = struct.unpack("h", raw[offset:offset + 2])[0]
         return data
diff --git a/modi_plus/module/input_module/imu.py b/modi_plus/module/input_module/imu.py
@@ -24,10 +24,10 @@ class Imu(InputModule):
     PROPERTY_OFFSET_VIBRATION = 0
 
     @property
-    def roll(self) -> float:
-        """Returns the roll angle of the imu
+    def angle_x(self) -> float:
+        """Returns the angle_x angle of the imu
 
-        :return: The imu's roll angle.
+        :return: The imu's angle_x angle.
         :rtype: float
         """
 
@@ -37,10 +37,10 @@ def roll(self) -> float:
         return data
 
     @property
-    def pitch(self) -> float:
-        """Returns the pitch angle of the imu
+    def angle_y(self) -> float:
+        """Returns the angle_y angle of the imu
 
-        :return: The imu's pitch angle.
+        :return: The imu's angle_y angle.
         :rtype: float
         """
 
@@ -50,10 +50,10 @@ def pitch(self) -> float:
         return data
 
     @property
-    def yaw(self) -> float:
-        """Returns the yaw angle of the imu
+    def angle_z(self) -> float:
+        """Returns the angle_zle_z angle of the imu
 
-        :return: The imu's yaw angle.
+        :return: The imu's angle_z angle.
         :rtype: float
         """
 
@@ -64,17 +64,17 @@ def yaw(self) -> float:
 
     @property
     def angle(self) -> Tuple[float, float, float]:
-        """Returns the roll, pitch and yaw angle of the imu
+        """Returns the angle_x, angle_y and angle_z angle of the imu
 
-        :return: The imu's angles of roll, pitch and yaw.
+        :return: The imu's angles of angle_x, angle_y and angle_z.
         :rtype: tuple
         """
 
-        return self.roll, self.pitch, self.yaw
+        return self.angle_x, self.angle_y, self.angle_z
 
     @property
     def angular_vel_x(self) -> float:
-        """Returns the roll angle of the imu
+        """Returns the angle_x angle of the imu
 
         :return: The imu's angular velocity the about x-axis.
         :rtype: float
diff --git a/modi_plus/module/output_module/display.py b/modi_plus/module/output_module/display.py
@@ -216,7 +216,7 @@ def write_text(self, text: str) -> None:
         self._text = text
         time.sleep(0.02 + 0.003 * len(encoding_data))
 
-    def write_variable(self, x: int, y: int, variable: float) -> None:
+    def write_variable_xy(self, x: int, y: int, variable: float) -> None:
         """Show the input variable on the display.
 
         :param x: X coordinate of the desired position
@@ -227,7 +227,6 @@ def write_variable(self, x: int, y: int, variable: float) -> None:
         :type variable: float
         :return: None
         """
-
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
@@ -238,7 +237,26 @@ def write_variable(self, x: int, y: int, variable: float) -> None:
         self._text += str(variable)
         time.sleep(0.01)
 
-    def draw_picture(self, x: int, y: int, name: int) -> None:
+    def write_variable_line(self, line: int, variable: float) -> None:
+        """Show the input variable on the display.
+
+        :param line: display line number of the desired position
+        :type line: int
+        :param variable: Variable to display.
+        :type variable: float
+        :return: None
+        """
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            property_values=(("u8", 0),
+                             ("u8", line * 20),
+                             ("float", variable), )
+        )
+        self._text += str(variable)
+        time.sleep(0.01)
+
+    def draw_picture(self, name: int) -> None:
         """Clears the display and show the input picture on the display.
 
         :param x: X coordinate of the desired position
@@ -257,8 +275,8 @@ def draw_picture(self, x: int, y: int, name: int) -> None:
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_DRAW_PICTURE,
-            property_values=(("u8", x),
-                             ("u8", y),
+            property_values=(("u8", 0),
+                             ("u8", 0),
                              ("u8", Display.WIDTH),
                              ("u8", Display.HEIGHT),
                              ("string", file_name), )
@@ -308,34 +326,22 @@ def set_offset(self, x: int, y: int) -> None:
         )
         time.sleep(0.01)
 
-    def move_screen(self, x: int, y: int) -> None:
-        """Move the screen by x and y
-
-        :param x: X-axis movement value
-        :type x: int
-        :param y: Y-axis movement value
-        :type y: int
-        :return: None
-        """
-
-        self._set_property(
-            self.id,
-            Display.PROPERTY_DISPLAY_MOVE_SCREEN,
-            property_values=(("s8", x), ("s8", y), ),
-            force=True
-        )
-        time.sleep(0.01)
-
-    def reset(self) -> None:
+    def reset(self, mode=0) -> None:
         """Clear the screen.
 
+        :param mode: Erase mode
+            - mode 0 : Erase inside buffer(it looks like nothing has changed)
+            - mode 1 : Erase display
         :return: None
         """
 
+        if mode > 1:
+            mode = 0
+
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_RESET,
-            property_values=(("u8", 0), )
+            property_values=(("u8", mode), )
         )
         self._text = ""
         time.sleep(0.01)
diff --git a/modi_plus/module/output_module/motor.py b/modi_plus/module/output_module/motor.py
@@ -104,11 +104,19 @@ def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
         :return: None
         """
 
+        invalid_angle = (target_angle < 0 or target_angle > 360)
+        invalid_speed = (target_speed < 0 or target_speed > 100)
+
+        if invalid_angle or invalid_speed:
+            return
+
         self._set_property(
             destination_id=self._id,
             property_num=Motor.PROPERTY_MOTOR_ANGLE,
             property_values=(("u16", target_angle),
-                             ("u16", target_speed), )
+                             ("u16", target_speed),
+                             ("u16", 0),
+                             ("u16", 0), )
         )
         time.sleep(0.01)
 
diff --git a/modi_plus/task/exe_task.py b/modi_plus/task/exe_task.py
@@ -80,9 +80,14 @@ def __update_health(self, message):
             module.last_updated_time = curr_time
             module.is_connected = True
 
-            if module.module_type == "network" and message["l"] == 5:
-                _, dir = unpack_data(message["b"], (4, 1))
-                if dir == 1:
+            if module.module_type == "network" and message["l"] == 6:
+                _, dir = unpack_data(message["b"], (5, 1))
+
+                # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제
+                if dir & 2 and module.is_usb_connected is False:
+                    self.__request_erase_interpreter()
+                    self.__request_reboot(BROADCAST_ID)
+                    time.sleep(1)
                     module.is_usb_connected = True
 
             # 일반 모듈의 OS 버전이 1.3.1 이상일 경우, health data에 pnp on/off 상태가 포함되어 있다.
@@ -101,7 +106,7 @@ def __update_health(self, message):
 
         # Disconnect module with no health message for more than 2 second
         for module in self._modules:
-            if curr_time - module.last_updated_time > 2:
+            if (curr_time - module.last_updated_time > 2) and (module.is_connected is True):
                 module.is_connected = False
                 module._last_set_message = None
 
@@ -206,3 +211,6 @@ def __request_find_network_id(self, id=BROADCAST_ID):
 
     def __request_esp_version(self, id):
         self._connection.send_nowait(parse_message(0xA0, 25, id, (0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF)))
+
+    def __request_erase_interpreter(self):
+        self._connection.send_nowait(parse_message(160, 80, 4095, (0, 0, 0, 0, 0, 0, 0, 0)))
diff --git a/modi_plus/util/inspection_util.py b/modi_plus/util/inspection_util.py
@@ -106,13 +106,13 @@ def inspect_battery(self, module, i, nb_modules):
     def inspect_env(self, module, i, nb_modules):
         self.print_wrap(
             """
-            Environment module has intensity, temperature, humidity and volume as its property.
+            Environment module has illuminance, temperature, humidity and volume as its property.
             """
         )
         input("\nIf you are ready to inspect this module, Press ENTER: ")
         self.clear()
 
-        properties = ["intensity", "temperature", "humidity", "volume"]
+        properties = ["illuminance", "temperature", "humidity", "volume"]
 
         for prop in properties:
             self.print_module_page(module, i, nb_modules)
diff --git a/modi_plus/util/usage_util.py b/modi_plus/util/usage_util.py
@@ -135,7 +135,7 @@ def run_env_manual(self):
             env = bundle.envs[0]
 
             while True:
-                print(f"Env ({env.id}) intensity: {env.intensity}")
+                print(f"Env ({env.id}) illuminance: {env.illuminance}")
                 print(f"Env ({env.id}) temperature: {env.temperature}")
                 print(f"Env ({env.id}) humidity: {env.humidity}")
                 print(f"Env ({env.id}) volume: {env.volume}")
@@ -154,9 +154,9 @@ def run_imu_manual(self):
             imu = bundle.imus[0]
 
             while True:
-                print(f"Gyro ({imu.id}) roll: {imu.roll}")
-                print(f"Gyro ({imu.id}) pitch: {imu.pitch}")
-                print(f"Gyro ({imu.id}) yaw: {imu.yaw}")
+                print(f"Gyro ({imu.id}) angle_x: {imu.angle_x}")
+                print(f"Gyro ({imu.id}) angle_y: {imu.angle_y}")
+                print(f"Gyro ({imu.id}) angle_z: {imu.angle_z}")
                 print(f"Gyro ({imu.id}) angular_vel_x: {imu.angular_vel_x}")
                 print(f"Gyro ({imu.id}) angular_vel_y: {imu.angular_vel_y}")
                 print(f"Gyro ({imu.id}) angular_vel_z: {imu.angular_vel_z}")
diff --git a/release_notes.md b/release_notes.md
diff --git a/setup.cfg b/setup.cfg
diff --git a/tests/module/input_module/test_env.py b/tests/module/input_module/test_env.py
diff --git a/tests/module/input_module/test_imu.py b/tests/module/input_module/test_imu.py
diff --git a/tests/module/output_module/test_display.py b/tests/module/output_module/test_display.py
diff --git a/tests/module/output_module/test_motor.py b/tests/module/output_module/test_motor.py
