dotbot.controller module#

Interface of the Dotbot controller.

exception dotbot.controller.ControllerException[source]#

Bases: Exception

Exception raised by Dotbot controllers.

class dotbot.controller.Controller(settings)[source]#

Bases: object

Abstract base class of specific implementations of Dotbot controllers.

Parameters:: settings (ControllerSettings)

get_dotbots(query)[source]#

Returns the list of dotbots matching the query.

Parameters:: query (DotBotQueryModel)
Return type:: List[DotBotModel]

handle_byte(byte)[source]#: Called on each byte received over UART.

handle_received_frame(frame)[source]#

Handle a received frame.

Parameters:: frame (Frame)

async notify_clients(notification)[source]#: Send a message to all clients connected.

on_command_clear_position_history(topic, _)[source]#: Called when a clear position history command is received.

on_command_move_raw(topic, payload)[source]#: Called when a move raw command is received.

on_command_rgb_led(topic, payload)[source]#: Called when an rgb led command is received.

on_command_waypoints(topic, payload)[source]#: Called when a list of waypoints is received.

on_command_xgo_action(topic, payload)[source]#: Called when an rgb led command is received.

on_connect(_, flags, rc, properties)[source]#

on_disconnect(_, packet, exc=None)[source]#

on_lh2_add(topic, payload)[source]#: Called when an lh2 calibration point is added.

on_lh2_start(topic, _)[source]#: Called to start the lh2 calibration.

on_message(_, topic, payload, qos, properties)[source]#: Called when a message is received from the controller.

on_request(payload)[source]#

on_subscribe(client, mid, qos, properties)[source]#

publish(message)[source]#

Parameters:: message (bytes)

async run()[source]#: Launch the controller.

send_payload(frame)[source]#

Sends a command in an HDLC frame over serial.

Parameters:: frame (Frame)

async web()[source]#: Starts the web server application.

class dotbot.controller.ControllerSettings(port, baudrate, dotbot_address, gw_address, swarm_id, controller_port='8000', webbrowser=False, handshake=False, edge=False, verbose=False)[source]#

Bases: object

Data class that holds controller settings.

Parameters:

port (str)
baudrate (int)
dotbot_address (str)
gw_address (str)
swarm_id (str)
controller_port (int)
webbrowser (bool)
handshake (bool)
edge (bool)
verbose (bool)

baudrate: int#

controller_port: int = '8000'#

dotbot_address: str#

edge: bool = False#

gw_address: str#

handshake: bool = False#

port: str#

swarm_id: str#

verbose: bool = False#

webbrowser: bool = False#

dotbot.controller.gps_distance(last, new)[source]#

Helper function that computes the distance between 2 GPS positions in m.

Parameters:

last (DotBotGPSPosition)
new (DotBotGPSPosition)

Return type:

float

dotbot.controller.lh2_distance(last, new)[source]#

Helper function that computes the distance between 2 LH2 positions.

Parameters:

last (DotBotLH2Position)
new (DotBotLH2Position)

Return type:

float