Bug fix twist - 0.9.1

Author: vellons

examples/example4_robotRestSDK_threading.py

@@ -29,7 +29,7 @@ def robot_handler(self):
         while True:
             print(self.get_robot_dict_status())
             time.sleep(3)
-            if self.get_twist() is not None:  # ROS like twist object to angular direction and velocity
+            if self.twist is not None:  # ROS like twist object to angular direction and velocity
                 x = self.twist.linear.x
                 y = self.twist.linear.y
                 theta_rad = math.atan2(y, x)

simplepybotsdk/configurations.py

@@ -1,4 +1,4 @@
-VERSION = "0.9.0"
+VERSION = "0.9.1"
 LICENSE = "MIT - Copyright (c) 2021-2022 Alex Vellone"
 MOTORS_CHECK_PER_SECOND = 20
 MOTORS_POINT_TO_POINT_CHECK_PER_SECOND = 10

simplepybotsdk/robotRestSDK.py

@@ -216,7 +216,7 @@ def _rest_robot_go_to_pose(self, root, request):
         if result:
             return Response(json_body={"detail": "Going to pose {} in {} seconds".format(key, seconds)})
         return Response(
-            json_body={"detail": "Something went wrong. See all available pose with /configuration/"}, status=400)
+            json_body={"detail": "Something went wrong. See all available pose with /poses/"}, status=400)
 
     def _rest_robot_move_point_to_point(self, root, request):
         if request.method == "OPTIONS":
@@ -249,19 +249,23 @@ def _rest_robot_sensors_detail_by_key(self, root, request):
         return Response(json_body=dict(s))
 
     def _rest_robot_twist(self, root, request):
-        return Response(json_body=dict(self.get_twist()))
+        if self.twist is None:
+            return Response(json_body={"detail": "Twist not enabled. Add enable_twist_controller in conf"}, status=404)
+        return Response(json_body=self.get_twist_dict())
 
     def _rest_robot_move_twist(self, root, request):
         if request.method == "OPTIONS":
             return Response(json_body={})
         try:
+            if self.twist is None:
+                return Response(json_body={"detail": "Twist not enabled"}, status=404)
             self.set_twist(
                 linear=TwistVector(x=request.json_body["linear"]["x"], y=request.json_body["linear"]["y"],
                                    z=request.json_body["linear"]["z"]),
                 angular=TwistVector(x=request.json_body["angular"]["x"], y=request.json_body["angular"]["y"],
                                     z=request.json_body["angular"]["z"])
             )
-            return Response(json_body=dict(self.get_twist()))
+            return Response(json_body=self.get_twist_dict())
         except Exception as e:
             logger.error("[rest_thread]: _rest_robot_move_twist: {}".format(e))
             return Response(json_body={"detail": "Bad request. You need to format the twist properly"}, status=400)

simplepybotsdk/robotSDK.py

@@ -218,11 +218,11 @@ def set_twist(self, linear: TwistVector, angular: TwistVector):
         self.twist.linear = linear
         self.twist.angular = angular
 
-    def get_twist(self):
+    def get_twist_dict(self) -> dict:
         """
         :return: dict of twist with linear and angular of None.
         """
-        return self.twist if self.twist is not None else None
+        return dict(self.twist) if self.twist is not None else None
 
     def load_motion_from_file(self, path: str):
         """
@@ -457,7 +457,7 @@ def get_robot_dict_status(self, absolute: bool = False) -> dict:
         dict_robot = {
             "motors": self.get_motors_list_abs_angles() if absolute else self.get_motors_list_relative_angles(),
             "sensors": self.get_sensors_list(),
-            "twist": dict(self.get_twist()),
+            "twist": self.get_twist_dict(),
             "format": "absolute" if absolute else "relative",
             "sdk": self.get_sdk_infos(),
             "system": self.get_system_infos()