Merge branch 'master' into feat/bookworm_32_64

Author: previ

coderbot/api.py

@@ -26,16 +26,8 @@
 
 BUTTON_PIN = 16
 
-config = Config.read()
-bot = CoderBot.get_instance(motor_trim_factor=float(config.get('move_motor_trim', 1.0)),
-                            motor_max_power=int(config.get('motor_max_power', 100)),
-                            motor_min_power=int(config.get('motor_min_power', 0)),
-                            hw_version=config.get('hardware_version'),
-                            pid_params=(float(config.get('pid_kp', 1.0)),
-                                        float(config.get('pid_kd', 0.1)),
-                                        float(config.get('pid_ki', 0.01)),
-                                        float(config.get('pid_max_speed', 200)),
-                                        float(config.get('pid_sample_time', 0.01))))
+config = Config.get()
+bot = CoderBot.get_instance()
 audio_device = Audio.get_instance()
 cam = Camera.get_instance()
 

coderbot/coderbot.py

@@ -157,8 +157,10 @@ def exit(self):
             s.cancel()
 
     @classmethod
-    def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+    def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01), from_defaults=True):
         if not cls.the_bot:
+            if from_defaults:
+                raise ValueError("incorrect CoderBot initialisation")
             cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor,  motor_max_power= motor_max_power, motor_min_power=motor_min_power, hw_version=hw_version, pid_params=pid_params)
         return cls.the_bot
 
@@ -272,5 +274,4 @@ def _cb_button(self, gpio, level, tick):
             elif tick - self._cb_last_tick[gpio] > elapse:
                 self._cb_last_tick[gpio] = tick
                 logging.info("pushed: %d, %d", level, tick)
-                cb()
-
+                cb()

coderbot/main.py

@@ -66,8 +66,16 @@ def run_server():
     try:
         try:
             app.bot_config = Config.read()
-
-            bot = CoderBot.get_instance()
+            bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
+                                        motor_max_power=int(app.bot_config.get('motor_max_power', 100)),
+                                        motor_min_power=int(app.bot_config.get('motor_min_power', 0)),
+                                        hw_version=app.bot_config.get('hardware_version'),
+                                        pid_params=(float(app.bot_config.get('pid_kp', 1.0)),
+                                            float(app.bot_config.get('pid_kd', 0.1)),
+                                            float(app.bot_config.get('pid_ki', 0.01)),
+                                            float(app.bot_config.get('pid_max_speed', 200)),
+                                            float(app.bot_config.get('pid_sample_time', 0.01))),
+                                        from_defaults=False)
 
             try:
                 audio_device = Audio.get_instance()
@@ -105,4 +113,4 @@ def run_server():
             bot.exit()
 
 if __name__ == "__main__":
-    run_server()
+    run_server()

coderbot/program.py

@@ -87,12 +87,13 @@ def __init__(self):
             for filename in filenames:
                 if PROGRAM_PREFIX in filename:
                     program_name = filename[len(PROGRAM_PREFIX):-len(PROGRAM_SUFFIX)]
-                    logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
-                    with open(os.path.join(dirname, filename), "r") as f:
-                        program_dict = json.load(f)
-                        program_dict["default"] = "default" in dirname
-                        program = Program.from_dict(program_dict)
-                        self.save(program)
+                    if self._programs.search(query.name == program_name) == []:
+                        logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
+                        with open(os.path.join(dirname, filename), "r") as f:
+                            program_dict = json.load(f)
+                            program_dict["default"] = "default" in dirname
+                            program = Program.from_dict(program_dict)
+                            self.save(program)
 
     @classmethod
     def get_instance(cls):

coderbot/v1.yml

@@ -762,4 +762,4 @@ components:
         - description
         - default
         - stock
-    
+