code review: introduce abort method

rosys/driving/driver.py

@@ -50,7 +50,11 @@ def __init__(self, wheels: Drivable, odometer: Odometer) -> None:
         self.odometer = odometer
         self.parameters = DriveParameters()
         self.state: Optional[DriveState] = None
-        self.abort_driving = False
+        self._abort = False
+
+    def abort(self) -> None:
+        """Abort the current drive routine."""
+        self._abort = True
 
     @analysis.track
     async def drive_square(self) -> None:
@@ -61,6 +65,9 @@ async def drive_square(self) -> None:
     @analysis.track
     async def drive_arc(self) -> None:
         while self.odometer.prediction.x < 2:
+            if self._abort:
+                self._abort = False
+                raise DrivingAbortedException()
             await self.wheels.drive(1, np.deg2rad(25))
             await rosys.sleep(0.1)
         await self.wheels.stop()
@@ -87,6 +94,9 @@ async def drive_to(self, target: Point, backward: bool = False) -> None:
     @analysis.track
     async def drive_circle(self, target: Point, backward: bool = False) -> None:
         while True:
+            if self._abort:
+                self._abort = False
+                raise DrivingAbortedException()
             target_yaw = self.odometer.prediction.direction(target)
             if backward:
                 target_yaw += np.pi
@@ -111,8 +121,8 @@ async def drive_spline(self, spline: Spline, *, flip_hook: bool = False, throttl
         carrot = Carrot(spline=spline, offset=carrot_offset)
 
         while True:
-            if self.abort_driving:
-                self.abort_driving = False
+            if self._abort:
+                self._abort = False
                 raise DrivingAbortedException()
             dYaw = self.parameters.hook_bending_factor * self.odometer.current_velocity.angular if self.odometer.current_velocity else 0
             hook = self.odometer.prediction.transform_pose(Pose(yaw=dYaw)).transform(hook_offset)