bug #383: remove is_goto_plyaing function

src/examples/2_goto_introduction.ipynb

@@ -474,9 +474,8 @@
             "id": "43",
             "metadata": {},
             "source": [
-                "For a specific goto, you may want to know its current state. You can get information on the goto given its id with 3 methods available at reachy's level:\n",
+                "For a specific goto, you may want to know its current state. You can get information on the goto given its id with 2 methods available at reachy's level:\n",
                 "\n",
-                "- **`is_goto_playing()`**: return True if the movement is currently being played\n",
                 "- **`is_goto_finished()`**: return True if the movement is over, but also if it won't be played because it has been cancelled for example\n",
                 "- **`get_goto_joints_request()`**: will return the joints goal positions sent to the part by the corresponding goto command \n",
                 "\n",
@@ -496,16 +495,12 @@
                 "time.sleep(1)\n",
                 "\n",
                 "# Goto is currently being played\n",
-                "goto1_is_playing = reachy.is_goto_playing(goto_1)\n",
-                "print(f'After 1 second, goto 1 is playing : {goto1_is_playing}')\n",
                 "goto1_is_finished = reachy.is_goto_finished(goto_1)\n",
                 "print(f'After 1 second, goto 1 is finished : {goto1_is_finished}\\n')\n",
                 "\n",
                 "time.sleep(3)\n",
                 "\n",
                 "# Goto is now over\n",
-                "goto1_is_playing = reachy.is_goto_playing(goto_1)\n",
-                "print(f'After 4 seconds, goto 1 is playing : {goto1_is_playing}')\n",
                 "goto1_is_finished = reachy.is_goto_finished(goto_1)\n",
                 "print(f'After 4 seconds, goto 1 is finished : {goto1_is_finished}')"
             ]

src/reachy2_sdk/reachy_sdk.py

@@ -623,19 +623,6 @@ def is_goto_finished(self, goto_id: GoToId) -> bool:
         )
         return result
 
-    def is_goto_playing(self, goto_id: GoToId) -> bool:
-        """Return True if goto is currently playing, False otherwise."""
-        if not self._grpc_connected:
-            self._logger.warning("Reachy is not connected!")
-            return False
-        if not isinstance(goto_id, GoToId):
-            raise TypeError(f"goto_id must be a GoToId, got {type(goto_id).__name__}")
-        if goto_id.id == -1:
-            self._logger.error("is_goto_playing() asked for unvalid movement. Goto not played.")
-            return False
-        state = self._get_goto_state(goto_id)
-        return bool(state.goal_status == GoalStatus.STATUS_EXECUTING)
-
     def cancel_all_goto(self) -> GoToAck:
         """Cancel all the goto tasks."""
         if not self._grpc_connected:

tests/units/offline/test_reachy_sdk.py

@@ -75,4 +75,3 @@ def test_unconnected() -> None:
     assert rsdk.get_goto_joints_request(GoToId(id=1)) is None
 
     assert rsdk.is_goto_finished(GoToId(id=1)) is False
-    assert rsdk.is_goto_playing(GoToId(id=1)) is False

tests/units/online/test_advanced_goto_functions.py

@@ -529,57 +529,11 @@ def test_is_goto_finished(reachy_sdk_zeroed: ReachySDK) -> None:
         reachy_sdk_zeroed.is_goto_finished(3)
 
 
-@pytest.mark.online
-def test_is_goto_playing(reachy_sdk_zeroed: ReachySDK) -> None:
-    req1 = reachy_sdk_zeroed.head.goto_joints([30, 0, 0], duration=2)
-    req2 = reachy_sdk_zeroed.l_arm.goto_joints([10, 10, 15, -20, 15, -15, -10], duration=3, interpolation_mode="linear")
-    req3 = reachy_sdk_zeroed.r_arm.goto_joints([0, 10, 20, -40, 10, 10, -15], duration=4)
-
-    time.sleep(1)
-    assert reachy_sdk_zeroed.is_goto_playing(req1)
-    assert reachy_sdk_zeroed.is_goto_playing(req2)
-    assert reachy_sdk_zeroed.is_goto_playing(req3)
-
-    req4 = reachy_sdk_zeroed.head.goto_joints([0, 0, 0], duration=1)
-    req5 = reachy_sdk_zeroed.l_arm.goto_joints([0, 0, 0, 0, 0, 0, 0], duration=1)
-    req6 = reachy_sdk_zeroed.r_arm.goto_joints([0, 0, 0, 0, 0, 0, 0], duration=4)
-
-    time.sleep(1)
-    assert reachy_sdk_zeroed._get_goto_state(req1).goal_status == GoalStatus.STATUS_SUCCEEDED
-    assert reachy_sdk_zeroed._get_goto_state(req2).goal_status == GoalStatus.STATUS_EXECUTING
-    assert reachy_sdk_zeroed._get_goto_state(req3).goal_status == GoalStatus.STATUS_EXECUTING
-    assert not reachy_sdk_zeroed.is_goto_playing(req1)
-    assert reachy_sdk_zeroed.is_goto_playing(req2)
-    assert reachy_sdk_zeroed.is_goto_playing(req3)
-    assert reachy_sdk_zeroed.is_goto_playing(req4)
-    assert not reachy_sdk_zeroed.is_goto_playing(req5)
-    assert not reachy_sdk_zeroed.is_goto_playing(req6)
-
-    cancel = reachy_sdk_zeroed.l_arm.cancel_all_goto()
-    assert cancel.ack
-    assert not reachy_sdk_zeroed.is_goto_playing(req2)
-
-    time.sleep(2)
-    assert reachy_sdk_zeroed._get_goto_state(req1).goal_status == GoalStatus.STATUS_SUCCEEDED
-    assert reachy_sdk_zeroed._get_goto_state(req2).goal_status == GoalStatus.STATUS_CANCELED
-    assert reachy_sdk_zeroed._get_goto_state(req3).goal_status == GoalStatus.STATUS_SUCCEEDED
-    assert not reachy_sdk_zeroed.is_goto_playing(req1)
-    assert not reachy_sdk_zeroed.is_goto_playing(req2)
-    assert not reachy_sdk_zeroed.is_goto_playing(req3)
-    assert not reachy_sdk_zeroed.is_goto_playing(req4)
-    assert not reachy_sdk_zeroed.is_goto_playing(req5)
-    assert reachy_sdk_zeroed.is_goto_playing(req6)
-
-    with pytest.raises(TypeError):
-        reachy_sdk_zeroed.is_goto_finished(3)
-
-
 @pytest.mark.online
 def test_single_joint_goto(reachy_sdk_zeroed: ReachySDK) -> None:
     req1 = reachy_sdk_zeroed.r_arm.elbow.pitch.goto(-90, duration=3)
     time.sleep(0.5)
 
-    assert reachy_sdk_zeroed.is_goto_playing(req1)
     while not is_goto_finished(reachy_sdk_zeroed, req1):
         time.sleep(0.1)
 
@@ -588,7 +542,6 @@ def test_single_joint_goto(reachy_sdk_zeroed: ReachySDK) -> None:
     req2 = reachy_sdk_zeroed.r_arm.elbow.pitch.goto(0, duration=1)
     time.sleep(0.5)
 
-    assert reachy_sdk_zeroed.is_goto_playing(req2)
     while not is_goto_finished(reachy_sdk_zeroed, req2):
         time.sleep(0.1)
 
@@ -599,9 +552,6 @@ def test_single_joint_goto(reachy_sdk_zeroed: ReachySDK) -> None:
     req5 = reachy_sdk_zeroed.l_arm.wrist.pitch.goto(15, duration=1)
     time.sleep(0.5)
 
-    assert reachy_sdk_zeroed.is_goto_playing(req3)
-    assert not reachy_sdk_zeroed.is_goto_playing(req4)
-    assert not reachy_sdk_zeroed.is_goto_playing(req5)
     assert len(reachy_sdk_zeroed.l_arm.get_goto_queue()) == 2
     while not is_goto_finished(reachy_sdk_zeroed, req5):
         time.sleep(0.1)
@@ -612,8 +562,6 @@ def test_single_joint_goto(reachy_sdk_zeroed: ReachySDK) -> None:
     req7 = reachy_sdk_zeroed.head.neck.yaw.goto(10, duration=1)
     time.sleep(0.5)
 
-    assert reachy_sdk_zeroed.is_goto_playing(req6)
-    assert not reachy_sdk_zeroed.is_goto_playing(req7)
     assert len(reachy_sdk_zeroed.head.get_goto_queue()) == 1
     while not is_goto_finished(reachy_sdk_zeroed, req7):
         time.sleep(0.1)

tests/units/online/test_multiple_connections.py

@@ -45,7 +45,6 @@ def test_same_robot(reachy_sdk_zeroed: ReachySDK) -> None:
     move1_id = reachy_sdk_zeroed.l_arm.goto_joints(move1_goal, duration=5)
 
     time.sleep(0.1)
-    assert reachy_sdk_zeroed.is_goto_playing(move1_id) == reachy2.is_goto_playing(move1_id)
 
     while not reachy_sdk_zeroed.is_goto_finished(move1_id):
         # update loops are not synchronized, we do not expect the same values