dotbot.controller module

Interface of the Dotbot controller.

exception dotbot.controller.ControllerException

Bases: Exception

Exception raised by Dotbot controllers.

class dotbot.controller.Controller(settings)

Bases: object

Abstract base class of specific implementations of Dotbot controllers.

Parameters:

settings (ControllerSettings)

get_dotbots(query)

Returns the list of dotbots matching the query.

Parameters:

query (DotBotQueryModel)

Return type:

List[DotBotModel]

handle_received_frame(frame)

Handle a received frame.

Parameters:

frame (Frame)

async notify_clients(notification)

Send a message to all clients connected.

on_command_clear_position_history(topic, _)

Called when a clear position history command is received.

on_command_move_raw(topic, payload)

Called when a move raw command is received.

on_command_rgb_led(topic, payload)

Called when an rgb led command is received.

on_command_waypoints(topic, payload)

Called when a list of waypoints is received.

on_command_xgo_action(topic, payload)

Called when an rgb led command is received.

on_request(payload)

async run()

Launch the controller.

send_payload(destination, payload)

Sends a command in an HDLC frame over serial.

Parameters:

• destination (int)

• payload (Payload)

async web()

Starts the web server application.

class dotbot.controller.ControllerSettings(adapter='serial', port='/dev/ttyACM0', baudrate=1000000, mqtt_host='localhost', mqtt_port=1883, mqtt_use_tls=False, dotbot_address='FFFFFFFFFFFFFFFF', gw_address='0000000000000000', network_id='0000', controller_http_port='8000', webbrowser=False, verbose=False, log_level='info', log_output='/home/docs/checkouts/readthedocs.org/user_builds/pydotbot/checkouts/0.28.0/doc/pydotbot.log', simulator_init_state_path='simulator_init_state.toml')

Bases: object

Data class that holds controller settings.

Parameters:

• adapter (str)

• port (str)

• baudrate (int)

• mqtt_host (str)

• mqtt_port (int)

• mqtt_use_tls (bool)

• dotbot_address (str)

• gw_address (str)

• network_id (str)

• controller_http_port (int)

• webbrowser (bool)

• verbose (bool)

• log_level (str)

• log_output (str)

• simulator_init_state_path (str)

adapter: str = 'serial'

baudrate: int = 1000000

controller_http_port: int = '8000'

dotbot_address: str = 'FFFFFFFFFFFFFFFF'

gw_address: str = '0000000000000000'

log_level: str = 'info'

log_output: str = '/home/docs/checkouts/readthedocs.org/user_builds/pydotbot/checkouts/0.28.0/doc/pydotbot.log'

mqtt_host: str = 'localhost'

mqtt_port: int = 1883

mqtt_use_tls: bool = False

network_id: str = '0000'

port: str = '/dev/ttyACM0'

simulator_init_state_path: str = 'simulator_init_state.toml'

verbose: bool = False

webbrowser: bool = False

dotbot.controller.gps_distance(last, new)

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)

Helper function that computes the distance between 2 LH2 positions.

Parameters:

• last (DotBotLH2Position)

• new (DotBotLH2Position)

Return type:

float

dotbot.controller.load_calibration()

Return type:

PayloadLh2CalibrationHomography