Merge pull request #37 from scottcandy34/main

Add cliff sensor event support

irobot_edu_sdk/getter_types.py

@@ -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

@@ -264,11 +264,26 @@ async def _when_touched_handler(self, packet: Packet):
                         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.
 
@@ -296,7 +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))