dotbot.dotbot_simulator module

Dotbot simulator for the DotBot project.

class dotbot.dotbot_simulator.DotBotSimulator(settings)

Bases: Thread

Simulator class for the dotbot.

Parameters:

settings (SimulatedDotBotSettings)

advertise()

Send an advertisement message to the gateway.

handle_frame(frame)

Decode the serial input received from the gateway.

Parameters:

frame (Frame)

run()

Update the state of the dotbot simulator.

stop()

update(dt)

State space model update.

Parameters:

dt (float)

property header

class dotbot.dotbot_simulator.DotBotSimulatorCommunicationInterface(on_frame_received, simulator_init_state_path)

Bases: Thread

Bidirectional serial interface to control simulated robots

Parameters:

• on_frame_received (Callable)

• simulator_init_state_path (str)

flush()

Flush fake serial output.

handle_dotbot_frame(frame)

Send bytes to the fake serial, similar to the real gateway.

run()

Listen continuously at each byte received on the fake serial interface.

stop()

write(bytes_)

Write bytes on the fake serial.

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

Bases: Enum

Operation mode of the dotbot simulator.

AUTOMATIC = 'AUTOMATIC'

MANUAL = 'MANUAL'

class dotbot.dotbot_simulator.InitStateToml(*, dotbots, network=SimulatedNetworkSettings(pdr=100))

Bases: BaseModel

Parameters:

• dotbots (List[SimulatedDotBotSettings])

• network (SimulatedNetworkSettings)

dotbots: List[SimulatedDotBotSettings]

model_config: ClassVar[ConfigDict] = {}

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

network: SimulatedNetworkSettings

class dotbot.dotbot_simulator.SimulatedDotBotSettings(*, address, pos_x, pos_y, theta, calibrated=True, motor_left_error=0.5, motor_right_error=0)

Bases: BaseModel

Parameters:

• address (str)

• pos_x (int)

• pos_y (int)

• theta (float)

• calibrated (bool)

• motor_left_error (float)

• motor_right_error (float)

address: str

calibrated: bool

model_config: ClassVar[ConfigDict] = {}

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

motor_left_error: float

motor_right_error: float

pos_x: int

pos_y: int

theta: float

class dotbot.dotbot_simulator.SimulatedNetworkSettings(*, pdr=100)

Bases: BaseModel

Parameters:

pdr (int)

model_config: ClassVar[ConfigDict] = {}

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

pdr: int

class dotbot.dotbot_simulator.Waypoint(x, y)

Bases: object

Waypoint class for the dotbot simulator.

Parameters:

• x (int)

• y (int)

x: int

y: int

dotbot.dotbot_simulator.battery_discharge_model(time_elapsed_s)

Simple battery discharge model.

Parameters:

time_elapsed_s (float)

Return type:

int