Merge pull request #37 from JuBiotech/make-list-files-return-file-list

Make `get_*` methods return the requested data

Author: cpr-mab

cri_lib/cri_controller.py

@@ -441,48 +441,52 @@ async def wait_for_kinematics_ready_async(self, timeout: float = 30) -> bool:
     async def get_board_temperatures_async(
         self,
         timeout: float | None = DEFAULT,  # type: ignore
-    ) -> bool:
+    ) -> list[float]:
         """Receive motor controller PCB temperatures and save in robot state
 
         Parameters
         ----------
         timeout: float | None
             timeout for waiting in seconds or None for infinite waiting
+
+        Returns
+        -------
+        list of motor controller PCB temperatures
         """
         self._send_command("SYSTEM GetBoardTemp", True, "info_boardtemp")
         if (
             error_msg := await self._wait_for_answer_async(
                 "info_boardtemp", timeout=timeout
             )
         ) is not None:
-            logger.debug("Error in GetBoardTemp command: %s", error_msg)
-            return False
-        else:
-            return True
+            raise CRICommandError(f"Error in GetBoardTemp command: {error_msg}")
+        return list(self.robot_state.board_temps)
 
     async def get_motor_temperatures_async(
         self,
         timeout: float | None = DEFAULT,  # type: ignore
-    ) -> bool:
+    ) -> list[float]:
         """Receive motor temperatures and save in robot state
 
         Parameters
         ----------
         timeout: float | None
             timeout for waiting in seconds or None for infinite waiting
+
+        Returns
+        -------
+        list of motor temperatures
         """
         self._send_command("SYSTEM GetMotorTemp", True, "info_motortemp")
         if (
             error_msg := await self._wait_for_answer_async(
                 "info_motortemp", timeout=timeout
             )
         ) is not None:
-            logger.debug("Error in GetMotorTemp command: %s", error_msg)
-            return False
-        else:
-            return True
+            raise CRICommandError(f"Error in GetMotorTemp command: {error_msg}")
+        return list(self.robot_state.motor_temps)
 
-    async def list_files_async(self, target_directory: str = "Programs") -> bool:
+    async def list_files_async(self, target_directory: str = "Programs") -> list[str]:
         """Request a list of all files in the directory, which is relative to the /Data/ directory.
 
         Parameters
@@ -492,28 +496,20 @@ async def list_files_async(self, target_directory: str = "Programs") -> bool:
 
         Returns
         -------
-        a list of files
+        a list of file paths relative to `/Data`
         """
 
         command = f"CMD ListFiles {target_directory}"
-
+        self._send_command(
+            command=command, register_answer=True, fixed_answer_name="info_filelist"
+        )
         if (
-            self._send_command(
-                command=command, register_answer=True, fixed_answer_name="info_filelist"
-            )
-            is not None
-        ):
-            if (
-                error_msg := await self._wait_for_answer_async(
-                    "info_filelist", timeout=self.DEFAULT_ANSWER_TIMEOUT
-                )
-            ) is not None:
-                logger.debug("Error in ListFiles command: %s", error_msg)
-                return False
-            else:
-                return True
-        else:
-            return False
+            error_msg := await self._wait_for_answer_async("info_filelist")
+        ) is not None:
+            raise CRICommandError(f"Error in ListFiles command: {error_msg}")
+        # the obtained file list is cached in the parser
+        with self.parser.file_list_lock:
+            return list(self.parser.file_list)
 
     def wait_for_status_update(self, timeout: float | None = None) -> None:
         """Blocking wrapper around :func:`CRIClient.wait_for_status_update_async`."""
@@ -530,7 +526,7 @@ def wait_for_kinematics_ready(self, timeout: float = 30) -> bool:
     def get_board_temperatures(
         self,
         timeout: float | None = DEFAULT,  # type: ignore
-    ) -> bool:
+    ) -> list[float]:
         """Blocking wrapper around :func:`CRIClient.get_board_temperatures_async`."""
         return asyncio.get_event_loop().run_until_complete(
             self.get_board_temperatures_async(timeout=timeout)
@@ -539,13 +535,13 @@ def get_board_temperatures(
     def get_motor_temperatures(
         self,
         timeout: float | None = DEFAULT,  # type: ignore
-    ) -> bool:
+    ) -> list[float]:
         """Blocking wrapper around :func:`CRIClient.get_motor_temperatures_async`."""
         return asyncio.get_event_loop().run_until_complete(
             self.get_motor_temperatures_async(timeout=timeout)
         )
 
-    def list_files(self) -> bool:
+    def list_files(self) -> list[str]:
         """Blocking wrapper around :func:`CRIClient.list_files_async`."""
         return asyncio.get_event_loop().run_until_complete(self.list_files_async())