dotbot.protocol module#

Module for the Dotbot protocol API.

exception dotbot.protocol.ProtocolPayloadParserException[source]#

Bases: Exception

Exception raised on invalid or unsupported payload.

class dotbot.protocol.Advertisement[source]#

Bases: ProtocolData

Dataclass that holds an advertisement (emtpy).

static from_bytes(_)[source]#

Returns a ProtocolData instance from a bytearray.

Parameters:: _ (bytes)
Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

class dotbot.protocol.ApplicationType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]#

Bases: IntEnum

Types of DotBot applications.

DotBot = 0#

Freebot = 2#

LH2_mini_mote = 4#

SailBot = 1#

XGO = 3#

class dotbot.protocol.CommandMoveRaw(left_x=0, left_y=0, right_x=0, right_y=0)[source]#

Bases: ProtocolData

Dataclass that holds move raw command data fields.

Parameters:

left_x (int)
left_y (int)
right_x (int)
right_y (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

left_x: int = 0#

left_y: int = 0#

right_x: int = 0#

right_y: int = 0#

class dotbot.protocol.CommandRgbLed(red=0, green=0, blue=0)[source]#

Bases: ProtocolData

Dataclass that holds a complete rgb led command fields.

Parameters:

red (int)
green (int)
blue (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

blue: int = 0#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

green: int = 0#

red: int = 0#

class dotbot.protocol.CommandXgoAction(action=0)[source]#

Bases: ProtocolData

Dataclass that holds an XGO action.

Parameters:: action (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

action: int = 0#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

class dotbot.protocol.ControlMode(mode=ControlModeType.MANUAL)[source]#

Bases: ProtocolData

Dataclass that holds a control mode message.

Parameters:: mode (ControlModeType)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

mode: ControlModeType = 0#

class dotbot.protocol.ControlModeType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]#

Bases: IntEnum

Types of DotBot control modes.

AUTO = 1#

MANUAL = 0#

class dotbot.protocol.DotBotData(direction=65535, locations=<factory>)[source]#

Bases: ProtocolData

Dataclass that holds direction and LH2 raw data from DotBot application.

Parameters:

direction (int)
locations (List[Lh2RawLocation])

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

direction: int = 65535#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

locations: List[Lh2RawLocation]#

class dotbot.protocol.DotBotSimulatorData(theta=65535, pos_x=0, pos_y=0)[source]#

Bases: ProtocolData

Dataclass that holds direction and GPS data and heading from SailBot application.

Parameters:

theta (int)
pos_x (int)
pos_y (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

pos_x: int = 0#

pos_y: int = 0#

theta: int = 65535#

class dotbot.protocol.GPSPosition(latitude=0, longitude=0)[source]#

Bases: ProtocolData

Dataclass that holds GPS positions.

Parameters:

latitude (int)
longitude (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

latitude: int = 0#

longitude: int = 0#

class dotbot.protocol.GPSWaypoints(threshold, waypoints=<factory>)[source]#

Bases: ProtocolData

Dataclass that holds a list of GPS waypoints.

Parameters:

threshold (int)
waypoints (List[GPSPosition])

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

threshold: int#

waypoints: List[GPSPosition]#

class dotbot.protocol.LH2Location(pos_x=0, pos_y=0, pos_z=0)[source]#

Bases: ProtocolData

Dataclass that holds LH2 computed location data.

Parameters:

pos_x (int)
pos_y (int)
pos_z (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

pos_x: int = 0#

pos_y: int = 0#

pos_z: int = 0#

class dotbot.protocol.LH2Waypoints(threshold, waypoints=<factory>)[source]#

Bases: ProtocolData

Dataclass that holds a list of LH2 waypoints.

Parameters:

threshold (int)
waypoints (List[LH2Location])

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

threshold: int#

waypoints: List[LH2Location]#

class dotbot.protocol.Lh2ProcessedLocation(polynomial_index=0, lfsr_index=0, timestamp_us=0)[source]#

Bases: ProtocolData

Dataclass that holds LH2 processed location data.

Parameters:

polynomial_index (int)
lfsr_index (int)
timestamp_us (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

lfsr_index: int = 0#

polynomial_index: int = 0#

timestamp_us: int = 0#

class dotbot.protocol.Lh2RawData(locations=<factory>)[source]#

Bases: ProtocolData

Dataclass that holds LH2 raw data.

Parameters:: locations (List[Lh2RawLocation])

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

property fields: List[ProtocolField]#: Returns the list of fields in this data.

locations: List[Lh2RawLocation]#

class dotbot.protocol.Lh2RawLocation(bits=0, polynomial_index=0, offset=0)[source]#

Bases: ProtocolData

Dataclass that holds LH2 raw location data.

Parameters:

bits (int)
polynomial_index (int)
offset (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

bits: int = 0#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

offset: int = 0#

polynomial_index: int = 0#

class dotbot.protocol.PayloadType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]#

Bases: Enum

Types of DotBot payload types.

ADVERTISEMENT = 4#

CMD_MOVE_RAW = 0#

CMD_RGB_LED = 1#

CMD_XGO_ACTION = 11#

CONTROL_MODE = 7#

DOTBOT_DATA = 6#

DOTBOT_SIMULATOR_DATA = 250#

GPS_POSITION = 5#

GPS_WAYPOINTS = 9#

INVALID_PAYLOAD = 13#

LH2_LOCATION = 3#

LH2_PROCESSED_DATA = 12#

LH2_RAW_DATA = 2#

LH2_WAYPOINTS = 8#

SAILBOT_DATA = 10#

class dotbot.protocol.ProtocolData[source]#

Bases: ABC

Base class for protocol payload data classes.

abstract static from_bytes(bytes_)[source]#: Returns a ProtocolData instance from a bytearray.

abstract property fields: List[ProtocolField]#: Returns the list of fields in this data.

class dotbot.protocol.ProtocolField(value=0, name='', length=1, signed=False)[source]#

Bases: object

Data class that describes a payload field.

Parameters:

value (int)
name (str)
length (int)
signed (bool)

length: int = 1#

name: str = ''#

signed: bool = False#

value: int = 0#

class dotbot.protocol.ProtocolHeader(destination=18446744073709551615, source=0, swarm_id=0, application=ApplicationType.DotBot, version=9, msg_id=0)[source]#

Bases: ProtocolData

Dataclass that holds header fields.

Parameters:

destination (int)
source (int)
swarm_id (int)
application (ApplicationType)
version (int)
msg_id (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

application: ApplicationType = 0#

destination: int = 18446744073709551615#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

msg_id: int = 0#

source: int = 0#

swarm_id: int = 0#

version: int = 9#

class dotbot.protocol.ProtocolPayload(header, payload_type, values)[source]#

Bases: object

Manage a protocol complete payload (header + type + values).

Parameters:

header (ProtocolHeader)
payload_type (PayloadType)
values (ProtocolData)

static from_bytes(bytes_)[source]#

Parse a bytearray to return a protocol payload instance.

Parameters:: bytes_ (bytes)

to_bytes(endian='little')[source]#

Converts a payload to a bytearray.

Return type:: bytes

header: ProtocolHeader#

payload_type: PayloadType#

values: ProtocolData#

class dotbot.protocol.SailBotData(direction=65535, latitude=0, longitude=0, wind_angle=65535, rudder_angle=0, sail_angle=0)[source]#

Bases: ProtocolData

Dataclass that holds SailBot data from SailBot application.

Parameters:

direction (int)
latitude (int)
longitude (int)
wind_angle (int)
rudder_angle (int)
sail_angle (int)

static from_bytes(bytes_)[source]#

Returns a ProtocolData instance from a bytearray.

Return type:: ProtocolData

direction: int = 65535#

property fields: List[ProtocolField]#: Returns the list of fields in this data.

latitude: int = 0#

longitude: int = 0#

rudder_angle: int = 0#

sail_angle: int = 0#

wind_angle: int = 65535#