dotbot.models module

Pydantic models used by the controller and server application.

class dotbot.models.DotBotAddressModel(*, address)

Bases: BaseModel

Simple model to hold a DotBot address.

Parameters:

address (str) –

address: str

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'address': FieldInfo(annotation=str, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

class dotbot.models.DotBotCalibrationIndexModel(*, index)

Bases: BaseModel

Model that holds the controller LH2 calibration index.

Parameters:

index (int) –

index: int

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'index': FieldInfo(annotation=int, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

class dotbot.models.DotBotCalibrationStateModel(*, state)

Bases: BaseModel

Model that holds the controller LH2 calibration state.

Parameters:

state (str) –

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'state': FieldInfo(annotation=str, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

state: str

class dotbot.models.DotBotControlModeModel(*, mode)

Bases: BaseModel

Mode of a DotBot.

Parameters:

mode (ControlModeType) –

mode: ControlModeType

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'mode': FieldInfo(annotation=ControlModeType, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

class dotbot.models.DotBotGPSPosition(*, latitude, longitude)

Bases: BaseModel

GPS position of a DotBot, usually running a SailBot application.

Parameters:

• latitude (float) –

• longitude (float) –

latitude: float

longitude: float

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'latitude': FieldInfo(annotation=float, required=True), 'longitude': FieldInfo(annotation=float, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

class dotbot.models.DotBotLH2Position(*, x, y, z)

Bases: BaseModel

Position of a DotBot.

Parameters:

• x (float) –

• y (float) –

• z (float) –

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'x': FieldInfo(annotation=float, required=True), 'y': FieldInfo(annotation=float, required=True), 'z': FieldInfo(annotation=float, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

x: float

y: float

z: float

class dotbot.models.DotBotModel(*, address, application=ApplicationType.DotBot, swarm='0000', status=DotBotStatus.ALIVE, mode=ControlModeType.MANUAL, last_seen, direction=None, wind_angle=None, rudder_angle=None, sail_angle=None, move_raw=None, rgb_led=None, lh2_position=None, gps_position=None, waypoints=[], waypoints_threshold=40, position_history=[])

Bases: BaseModel

Model class that defines a DotBot.

Parameters:

• address (str) –

• application (ApplicationType) –

• swarm (str) –

• status (DotBotStatus) –

• mode (ControlModeType) –

• last_seen (float) –

• direction (int | None) –

• wind_angle (int | None) –

• rudder_angle (int | None) –

• sail_angle (int | None) –

• move_raw (DotBotMoveRawCommandModel | None) –

• rgb_led (DotBotRgbLedCommandModel | None) –

• lh2_position (DotBotLH2Position | None) –

• gps_position (DotBotGPSPosition | None) –

• waypoints (List[DotBotLH2Position | DotBotGPSPosition]) –

• waypoints_threshold (int) –

• position_history (List[DotBotLH2Position | DotBotGPSPosition]) –

address: str

application: ApplicationType

direction: int | None

gps_position: DotBotGPSPosition | None

last_seen: float

lh2_position: DotBotLH2Position | None

mode: ControlModeType

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'address': FieldInfo(annotation=str, required=True), 'application': FieldInfo(annotation=ApplicationType, required=False, default=<ApplicationType.DotBot: 0>), 'direction': FieldInfo(annotation=Union[int, NoneType], required=False, default=None), 'gps_position': FieldInfo(annotation=Union[DotBotGPSPosition, NoneType], required=False, default=None), 'last_seen': FieldInfo(annotation=float, required=True), 'lh2_position': FieldInfo(annotation=Union[DotBotLH2Position, NoneType], required=False, default=None), 'mode': FieldInfo(annotation=ControlModeType, required=False, default=<ControlModeType.MANUAL: 0>), 'move_raw': FieldInfo(annotation=Union[DotBotMoveRawCommandModel, NoneType], required=False, default=None), 'position_history': FieldInfo(annotation=List[Union[DotBotLH2Position, DotBotGPSPosition]], required=False, default=[]), 'rgb_led': FieldInfo(annotation=Union[DotBotRgbLedCommandModel, NoneType], required=False, default=None), 'rudder_angle': FieldInfo(annotation=Union[int, NoneType], required=False, default=None), 'sail_angle': FieldInfo(annotation=Union[int, NoneType], required=False, default=None), 'status': FieldInfo(annotation=DotBotStatus, required=False, default=<DotBotStatus.ALIVE: 0>), 'swarm': FieldInfo(annotation=str, required=False, default='0000'), 'waypoints': FieldInfo(annotation=List[Union[DotBotLH2Position, DotBotGPSPosition]], required=False, default=[]), 'waypoints_threshold': FieldInfo(annotation=int, required=False, default=40), 'wind_angle': FieldInfo(annotation=Union[int, NoneType], required=False, default=None)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

move_raw: DotBotMoveRawCommandModel | None

position_history: List[DotBotLH2Position | DotBotGPSPosition]

rgb_led: DotBotRgbLedCommandModel | None

rudder_angle: int | None

sail_angle: int | None

status: DotBotStatus

swarm: str

waypoints: List[DotBotLH2Position | DotBotGPSPosition]

waypoints_threshold: int

wind_angle: int | None

class dotbot.models.DotBotMoveRawCommandModel(*, left_x, left_y, right_x, right_y)

Bases: BaseModel

Model class that defines a move raw command.

Parameters:

• left_x (int) –

• left_y (int) –

• right_x (int) –

• right_y (int) –

left_x: int

left_y: int

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'left_x': FieldInfo(annotation=int, required=True), 'left_y': FieldInfo(annotation=int, required=True), 'right_x': FieldInfo(annotation=int, required=True), 'right_y': FieldInfo(annotation=int, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

right_x: int

right_y: int

class dotbot.models.DotBotNotificationCommand(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Notification command of a DotBot.

NONE: int = 0

PIN_CODE_UPDATE: int = 3

RELOAD: int = 1

UPDATE: int = 2

class dotbot.models.DotBotNotificationModel(*, cmd, data=None, pin_code=None)

Bases: BaseModel

Model class used to send controller notifications.

Parameters:

• cmd (DotBotNotificationCommand) –

• data (DotBotNotificationUpdate | None) –

• pin_code (int | None) –

cmd: DotBotNotificationCommand

data: DotBotNotificationUpdate | None

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'cmd': FieldInfo(annotation=DotBotNotificationCommand, required=True), 'data': FieldInfo(annotation=Union[DotBotNotificationUpdate, NoneType], required=False, default=None), 'pin_code': FieldInfo(annotation=Union[int, NoneType], required=False, default=None)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

pin_code: int | None

class dotbot.models.DotBotNotificationUpdate(*, address, direction, wind_angle, rudder_angle, sail_angle, lh2_position=None, gps_position=None)

Bases: BaseModel

Update notification model.

Parameters:

• address (str) –

• direction (int | None) –

• wind_angle (int | None) –

• rudder_angle (int | None) –

• sail_angle (int | None) –

• lh2_position (DotBotLH2Position | None) –

• gps_position (DotBotGPSPosition | None) –

address: str

direction: int | None

gps_position: DotBotGPSPosition | None

lh2_position: DotBotLH2Position | None

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'address': FieldInfo(annotation=str, required=True), 'direction': FieldInfo(annotation=Union[int, NoneType], required=True), 'gps_position': FieldInfo(annotation=Union[DotBotGPSPosition, NoneType], required=False, default=None), 'lh2_position': FieldInfo(annotation=Union[DotBotLH2Position, NoneType], required=False, default=None), 'rudder_angle': FieldInfo(annotation=Union[int, NoneType], required=True), 'sail_angle': FieldInfo(annotation=Union[int, NoneType], required=True), 'wind_angle': FieldInfo(annotation=Union[int, NoneType], required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

rudder_angle: int | None

sail_angle: int | None

wind_angle: int | None

class dotbot.models.DotBotQueryModel(*, max_positions=1000, application=None, mode=None, status=None, swarm=None)

Bases: BaseModel

Model class used to filter DotBots.

Parameters:

• max_positions (int) –

• application (ApplicationType | None) –

• mode (ControlModeType | None) –

• status (DotBotStatus | None) –

• swarm (str | None) –

application: ApplicationType | None

max_positions: int

mode: ControlModeType | None

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'application': FieldInfo(annotation=Union[ApplicationType, NoneType], required=False, default=None), 'max_positions': FieldInfo(annotation=int, required=False, default=1000), 'mode': FieldInfo(annotation=Union[ControlModeType, NoneType], required=False, default=None), 'status': FieldInfo(annotation=Union[DotBotStatus, NoneType], required=False, default=None), 'swarm': FieldInfo(annotation=Union[str, NoneType], required=False, default=None)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

status: DotBotStatus | None

swarm: str | None

class dotbot.models.DotBotReplyModel(*, request, data)

Bases: BaseModel

Model class used to handle controller replies.

Parameters:

• request (DotBotRequestType) –

• data (Any) –

data: Any

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'data': FieldInfo(annotation=Any, required=True), 'request': FieldInfo(annotation=DotBotRequestType, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

request: DotBotRequestType

class dotbot.models.DotBotRequestModel(*, request, reply)

Bases: BaseModel

Model class used to handle controller request.

Parameters:

• request (DotBotRequestType) –

• reply (str) –

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'reply': FieldInfo(annotation=str, required=True), 'request': FieldInfo(annotation=DotBotRequestType, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

reply: str

request: DotBotRequestType

class dotbot.models.DotBotRequestType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Request received from MQTT client.

DOTBOTS: int = 0

LH2_CALIBRATION_STATE: int = 1

class dotbot.models.DotBotRgbLedCommandModel(*, red, green, blue)

Bases: BaseModel

Model class that defines an RGB LED command.

Parameters:

• red (int) –

• green (int) –

• blue (int) –

blue: int

green: int

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'blue': FieldInfo(annotation=int, required=True), 'green': FieldInfo(annotation=int, required=True), 'red': FieldInfo(annotation=int, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

red: int

class dotbot.models.DotBotStatus(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Status of a DotBot.

ALIVE: int = 0

DEAD: int = 2

LOST: int = 1

class dotbot.models.DotBotWaypoints(*, threshold, waypoints)

Bases: BaseModel

Waypoints model.

Parameters:

• threshold (int) –

• waypoints (List[DotBotLH2Position | DotBotGPSPosition]) –

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'threshold': FieldInfo(annotation=int, required=True), 'waypoints': FieldInfo(annotation=List[Union[DotBotLH2Position, DotBotGPSPosition]], required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

threshold: int

waypoints: List[DotBotLH2Position | DotBotGPSPosition]

class dotbot.models.DotBotXGOActionCommandModel(*, action)

Bases: BaseModel

Model class that defines an XGO action command.

Parameters:

action (int) –

action: int

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'action': FieldInfo(annotation=int, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

class dotbot.models.MqttPinCodeModel(*, pin)

Bases: BaseModel

Pin code used to derive crypto keys for MQTT.

Parameters:

pin (int) –

model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {}

A dictionary of computed field names and their corresponding ComputedFieldInfo objects.

model_config: ClassVar[ConfigDict] = {}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

model_fields: ClassVar[Dict[str, FieldInfo]] = {'pin': FieldInfo(annotation=int, required=True)}

Metadata about the fields defined on the model, mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.

This replaces Model.__fields__ from Pydantic V1.

pin: int