dotbot.controller module

Interface of the Dotbot controller.

exception dotbot.controller.ControllerException

Bases: Exception

Exception raised by Dotbot controllers.

class dotbot.controller.CalibrationHomography(homography_matrix=<factory>)

Bases: object

Dataclass that holds computed LH2 homography for a basestation indicated by index.

Parameters:

homography_matrix (bytes)

homography_matrix: bytes

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.

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, mqtt_username=None, mqtt_password=None, gw_address='0000000000000000', network_id='0000', controller_http_port=8000, map_size='2000x2000', background_map='', webbrowser=False, verbose=False, log_level='info', log_output='/home/docs/checkouts/readthedocs.org/user_builds/pydotbot/checkouts/0.29.0rc2/doc/pydotbot.log', csv_data_output=None, simulator_init_state='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)

• mqtt_username (str | None)

• mqtt_password (str | None)

• gw_address (str)

• network_id (str)

• controller_http_port (int)

• map_size (str)

• background_map (str)

• webbrowser (bool)

• verbose (bool)

• log_level (str)

• log_output (str)

• csv_data_output (str | None)

• simulator_init_state (str)

adapter: str = 'serial'

background_map: str = ''

baudrate: int = 1000000

controller_http_port: int = 8000

csv_data_output: str | None = None

gw_address: str = '0000000000000000'

log_level: str = 'info'

log_output: str = '/home/docs/checkouts/readthedocs.org/user_builds/pydotbot/checkouts/0.29.0rc2/doc/pydotbot.log'

map_size: str = '2000x2000'

mqtt_host: str = 'localhost'

mqtt_password: str | None = None

mqtt_port: int = 1883

mqtt_use_tls: bool = False

mqtt_username: str | None = None

network_id: str = '0000'

port: str = '/dev/ttyACM0'

simulator_init_state: 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:

list[CalibrationHomography]