feat: add sync method(testing)

* imporve parameter checking.
* add and fix test file.

Author: zlj-zz

pymycobot/error.py

@@ -1,18 +1,120 @@
 import functools
+from pymycobot.common import Command
 
 
 class MyCobotDataException(Exception):
     pass
 
-def check_id(func):
 
-    @functools.wraps(func)
-    def _wapper(*args, **kwargs):
-        if not 0 <= args[1] <= 6:
-            raise MyCobotDataException('id not right, should be 1 ~ 6')
+def check_parameters(genre=0):
 
-        return func(*args, **kwargs)
+    def check_decorator(func):
 
-    return _wapper
+        @functools.wraps(func)
+        def _wapper(*args, **kwargs):
+            if genre == Command.SEND_ANGLE:
+                check_id(args[1])
+                check_angle(args[2])
+                check_speed(args[3])
+            elif genre == Command.SEND_ANGLES:
+                check_angles(args[1])
+                check_speed(args[2])
+            elif genre == 'radians':
+                pass
+            elif genre == Command.SEND_COORD:
+                check_id(args[1])
+                check_coord(args[1] - 1, args[2])
+                check_speed(args[3])
+            elif genre == Command.SEND_COORDS:
+                check_coords(args[1])
+                check_speed(args[2])
+            elif genre == Command.SET_SPEED:
+                check_speed(args[1])
+            elif genre == Command.IS_IN_POSITION:
+                check_boolean(args[2])
+                if args[2] == 0:
+                    check_angles(args[1])
+                elif args[2] == 1:
+                    check_coords(args[1])
+            elif genre == Command.SET_GRIPPER_STATE:
+                check_boolean(args[1])
+                check_speed(args[2])
+            elif genre == Command.SET_COLOR:
+                check_rgb(args[1:])
+            elif genre == Command.JOG_ANGLE or genre == Command.JOG_COORD:
+                check_id(args[1])
+                check_boolean(args[2])
+                check_speed(args[3])
+            elif genre in [
+                    Command.GET_JOINT_MIN_ANGLE, Command.GET_JOINT_MAX_ANGLE,
+                    Command.IS_SERVO_ENABLE, Command.RELEASE_SERVO,
+                    Command.FOCUS_SERVO
+            ]:
+                check_id(args[1])
 
+            return func(*args, **kwargs)
 
+        return _wapper
+
+    return check_decorator
+
+
+def check_boolean(b):
+    if b != 0 and b != 1:
+        raise MyCobotDataException('This parameter needs to be 0 or 1')
+
+
+def check_range(v, ra):
+    if ra[0] <= v <= ra[1]:
+        return True
+    else:
+        return False
+
+
+def check_len(d, l, n):
+    if len(d) != l:
+        raise MyCobotDataException('The length of {} needs be {}'.format(n, l))
+
+
+def check_speed(sp):
+    if not check_range(sp, [0, 100]):
+        raise MyCobotDataException('speed not right, should be 0 ~ 100')
+
+
+def check_id(id):
+    if not check_range(id, [1, 6]):
+        raise MyCobotDataException('id not right, should be 1 ~ 6')
+
+
+def check_angle(v):
+    if not check_range(id, [-180, 180]):
+        raise MyCobotDataException(
+            'angle value not right, should be -180 ~ 180')
+
+
+def check_angles(vs):
+    check_len(vs, 6, 'angles')
+    for v in vs:
+        check_angle(v)
+
+
+def check_coord(id, v):
+    coords = ['x', 'y', 'z', 'rx', 'ry', 'rz']
+    if id < 3:
+        pass
+    else:
+        if not check_range(id, [-180, 180]):
+            raise MyCobotDataException(
+                '{} value not right, should be -180 ~ 180'.format(coords[id]))
+
+
+def check_coords(vs):
+    check_len(vs, 6, 'coords')
+    for i, v in enumerate(vs):
+        check_coord(i, v)
+
+
+def check_rgb(args):
+    for i in args:
+        if not check_range(id, [0, 255]):
+            raise MyCobotDataException('The RGB value needs be 0 ~ 255')