temporary fix for Lizard issue 66

zauberzeug · Oct 23, 2024 · 29598a8 · 29598a8
1 parent b3b2660
commit 29598a8
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Showing 2 changed files with 21 additions and 4 deletions.
diff --git a/rosys/hardware/battery_control.py b/rosys/hardware/battery_control.py
@@ -1,4 +1,5 @@
 from .. import rosys
+from ..helpers import remove_indentation
 from .expander import ExpanderHardware
 from .module import ModuleHardware
 from .robot_brain import RobotBrain
@@ -14,8 +15,16 @@ def __init__(self, robot_brain: RobotBrain, *,
                  ) -> None:
         self.name = name
         self.status: bool = False
-        lizard_code = f'{self.name}_reset = {expander.name + "." if expander else ""}Output({reset_pin})\n'
-        lizard_code += f'{self.name}_status = {expander.name + "." if expander else ""}Input({status_pin})\n'
+        lizard_code = remove_indentation(f'''
+            {self.name}_reset = {expander.name + "." if expander else ""}Output({reset_pin})
+            {self.name}_status = {expander.name + "." if expander else ""}Input({status_pin})
+        ''')
+        if expander:
+            lizard_code += remove_indentation(f'''
+                # TODO: remove when lizard issue 66 is fixed.
+                {self.name}_status.level = 0
+                {self.name}_status.active = false
+            ''')
         core_message_fields = [f'{self.name}_status.level']
         super().__init__(robot_brain=robot_brain, lizard_code=lizard_code, core_message_fields=core_message_fields)
 

diff --git a/rosys/hardware/bumper.py b/rosys/hardware/bumper.py
@@ -1,6 +1,7 @@
 import abc
 
 from ..event import Event
+from ..helpers import remove_indentation
 from .estop import EStop
 from .expander import ExpanderHardware
 from .module import Module, ModuleHardware, ModuleSimulation
@@ -34,8 +35,15 @@ def __init__(self, robot_brain: RobotBrain, *,
                  estop: EStop | None = None) -> None:
         self.name = name
         self.pins = pins
-        lizard_code = '\n'.join(f'{name}_{pin} = {expander.name + "." if expander else ""}Input({number})'
-                                for pin, number in pins.items())
+        lizard_code = ''
+        for pin, number in pins.items():
+            lizard_code += f'{name}_{pin} = {expander.name + "." if expander else ""}Input({number})\n'
+            if expander:
+                lizard_code += remove_indentation(f'''
+                    # TODO: remove when lizard issue 66 is fixed.
+                    {name}_{pin}.level = 0
+                    {name}_{pin}.active = false
+                ''')
         core_message_fields = [f'{name}_{pin}.level' for pin in pins]
         super().__init__(robot_brain=robot_brain,
                          lizard_code=lizard_code,