edu-robot-api 0.6.0__py3-none-any.whl

edu_robot_api/__init__.py

@@ -0,0 +1,20 @@
+"""Typed robot, sensor and actuator interfaces for educational programs."""
+# Resolve package modules across Python search-path entries.
+from pkgutil import extend_path as _extend_path
+
+__path__ = _extend_path(__path__, __name__)
+del _extend_path
+
+from .components import (Actuator, Backend, Buzzer, Camera, CapabilityUnavailable,
+                         Component, ContactSensor, DCMotor, DistanceSensor,
+                         FunctionBackend, Kicker, LEDMatrix, LineSensor, Motor,
+                         RGBLights, Robot, Sensor, SensorReadings, ServoMotor,
+                         motor_pair, percent)
+from .components import Bridge, WorkbenchBridge
+from .connection import connect_robot
+
+__version__ = "0.6.0"
+__all__ = ["Robot", "connect_robot", "Bridge", "WorkbenchBridge", "Sensor", "DistanceSensor", "LineSensor",
+           "ContactSensor", "Camera", "SensorReadings", "Component", "Actuator", "Motor", "DCMotor",
+           "ServoMotor", "RGBLights", "LEDMatrix", "Buzzer", "Kicker", "Backend", "FunctionBackend",
+           "CapabilityUnavailable", "motor_pair", "percent"]

edu_robot_api/components.py

@@ -0,0 +1,467 @@
+"""Portable component API (CPython and Pyodide). No transport dependencies."""
+from __future__ import annotations
+
+from collections.abc import Callable, Iterator, Mapping, Sequence
+from copy import deepcopy
+from typing import Any, Generic, Protocol, TypeVar, overload
+
+T = TypeVar("T")
+
+
+class CapabilityUnavailable(Exception):
+    """The connected robot does not provide this component or operation."""
+
+
+class Backend(Protocol):
+    def call(self, operation: str, *args: Any) -> Any: ...
+
+
+class FunctionBackend:
+    """Boundary adapter for existing device and simulator drivers."""
+    def __init__(self, functions: Mapping[str, Callable[..., Any]]) -> None:
+        self.functions = functions
+
+    def call(self, operation: str, *args: Any) -> Any:
+        if operation not in self.functions:
+            raise CapabilityUnavailable(operation)
+        try:
+            return self.functions[operation](*args)
+        except Exception as error:
+            if type(error).__name__ == "CapabilityUnavailable":
+                raise CapabilityUnavailable(str(error)) from error
+            raise
+
+
+def percent(value: float) -> float:
+    if isinstance(value, bool) or not isinstance(value, (int, float)) or not -float("inf") < value < float("inf"):
+        raise ValueError("Motorleistung muss eine endliche Zahl sein.")
+    return max(-100, min(100, value))
+
+
+def motor_pair(linear: float, turn: float) -> tuple[float, float]:
+    linear, turn = percent(linear), percent(turn)
+    return percent(linear + turn), percent(linear - turn)
+
+
+class Component:
+    def __init__(self, robot: Robot, identifier: str, name: str, *, position: str | None = None) -> None:
+        self._robot, self._channel, self._name = robot, identifier, name
+        self._id = ("sensor:" if isinstance(self, Sensor) else "actuator:") + identifier
+        self.position = position
+
+    @property
+    def id(self) -> str:
+        """Stable within a connection, independent of the editable display name."""
+        return self._id
+
+    @property
+    def name(self) -> str:
+        return self._name
+
+    @name.setter
+    def name(self, value: str) -> None:
+        self._robot.rename(self, value)
+
+    def __str__(self) -> str:
+        return self.name
+
+    def __repr__(self) -> str:
+        return f"{type(self).__name__}({self.name!r})"
+
+
+class Sensor(Component, Generic[T]):
+    def read(self) -> T | None:
+        return self._robot.read_sensors([self])[self]
+
+
+class DistanceSensor(Sensor[float]):
+    """Distance in centimetres; None means no usable measurement."""
+    def obstacle_ahead(self, threshold_cm: float = 30) -> bool | None:
+        if isinstance(threshold_cm, bool) or not isinstance(threshold_cm, (int, float)) or not 0 <= threshold_cm < float("inf"):
+            raise ValueError("Abstand muss endlich und nicht negativ sein.")
+        value = self.read()
+        return None if value is None else value < threshold_cm
+
+
+class LineSensor(Sensor[bool]):
+    """Digital line detector: True means the dark line is detected."""
+
+
+class ContactSensor(Sensor[bool]):
+    pass
+
+
+class Camera(Sensor[dict[str, Any]]):
+    """RGB image: width, height, row-major pixels packed as 0xRRGGBB."""
+    def read(self, *, full_resolution: bool = True) -> dict[str, Any] | None:
+        return self._robot._call("camera_image" if full_resolution else "camera")
+
+    def start(self) -> None:
+        self._robot._call("start_camera")
+
+    def stop(self) -> None:
+        self._robot._call("stop_camera")
+
+
+class SensorReadings(Mapping[Sensor[Any] | str | int, Any]):
+    """A measurement snapshot. Iteration uses the names at capture time."""
+    def __init__(self, sensors: Sequence[Sensor[Any]], values: Sequence[Any]) -> None:
+        self._sensors = tuple(sensors)
+        self._names = tuple(sensor.name for sensor in sensors)
+        self._values = deepcopy(tuple(values))
+
+    @overload
+    def __getitem__(self, key: Sensor[T]) -> T | None: ...
+    @overload
+    def __getitem__(self, key: str | int) -> Any: ...
+    def __getitem__(self, key: object) -> Any:
+        if isinstance(key, bool):
+            raise KeyError(key)
+        if isinstance(key, int):
+            return deepcopy(self._values[key])
+        keys = self._names if isinstance(key, str) else self._sensors
+        try:
+            index = keys.index(key)
+        except ValueError:
+            raise KeyError(key) from None
+        return deepcopy(self._values[index])
+
+    def __iter__(self) -> Iterator[str]:
+        return iter(self._names)
+
+    def __len__(self) -> int:
+        return len(self._values)
+
+
+class Actuator(Component):
+    pass
+
+
+class Motor(Actuator):
+    pass
+
+
+class DCMotor(Motor):
+    def set_power(self, power: float) -> None:
+        self._robot._set_motor(self, percent(power))
+
+    def stop(self) -> None:
+        self.set_power(0)
+
+
+class ServoMotor(Motor):
+    def __init__(self, *args: Any, minimum: float = 0, maximum: float = 180, **kwargs: Any) -> None:
+        super().__init__(*args, **kwargs)
+        self.minimum, self.maximum = minimum, maximum
+
+    def set_angle(self, angle: float) -> None:
+        if isinstance(angle, bool) or not isinstance(angle, (int, float)) or not self.minimum <= angle <= self.maximum:
+            raise ValueError(f"Servowinkel muss zwischen {self.minimum} und {self.maximum} Grad liegen.")
+        self._robot._set_servo(self, angle)
+
+
+class RGBLights(Actuator):
+    def set_color(self, index: int | str, red: int, green: int, blue: int) -> None:
+        if index == "all":
+            index = -1
+        if isinstance(index, bool) or not isinstance(index, int) or not -1 <= index < self._robot._led_count:
+            raise ValueError("Ungültiger LED-Index.")
+        if any(isinstance(v, bool) or not isinstance(v, int) or not 0 <= v <= 255 for v in (red, green, blue)):
+            raise ValueError("RGB-Werte müssen ganze Zahlen von 0 bis 255 sein.")
+        self._robot._call("rgb_led", index, red, green, blue)
+
+    def set_mode(self, mode: int) -> None:
+        _mode(mode, 5)
+        self._robot._call("rgb_mode", mode)
+
+
+def _mode(value: int, maximum: int) -> None:
+    if isinstance(value, bool) or not isinstance(value, int) or not 0 <= value <= maximum:
+        raise ValueError(f"Modus muss eine ganze Zahl von 0 bis {maximum} sein.")
+
+
+class LEDMatrix(Actuator):
+    def set_mode(self, mode: int) -> None:
+        _mode(mode, 3)
+        self._robot._call("matrix_mode", mode)
+
+
+class Buzzer(Actuator):
+    def set(self, enabled: bool = True, frequency: int = 2000) -> None:
+        if not isinstance(enabled, bool) or isinstance(frequency, bool) or not isinstance(frequency, int) or not 20 <= frequency <= 20000:
+            raise ValueError("Summer: bool und Frequenz 20 bis 20000 Hz erwartet.")
+        self._robot._call("buzzer", enabled, frequency)
+
+    def stop(self) -> None:
+        self.set(False)
+
+
+class Kicker(Actuator):
+    def kick(self, power: float = 75) -> None:
+        self._robot._call("kick", max(0, percent(power)))
+
+
+class SimulationView:
+    """Optional observations; never advertised by a physical bridge."""
+    def __init__(self, robot: Robot) -> None:
+        self._robot = robot
+
+    def position(self) -> dict[str, float]:
+        return self._robot._call("position")
+
+    def ball_position(self) -> dict[str, float]:
+        return self._robot._call("ball_position")
+
+    def opponent_position(self) -> dict[str, float] | None:
+        return self._robot._call("opponent_position")
+
+    def goal_position(self) -> dict[str, float]:
+        return self._robot._call("goal_position")
+
+    def ball_distance(self) -> float:
+        return self._robot._call("ball_distance")
+
+    def ball_angle(self) -> float:
+        return self._robot._call("ball_angle")
+
+    def kickoff_wait(self) -> bool:
+        return self._robot._call("kickoff_wait")
+
+    def kickoff_time(self) -> float:
+        return self._robot._call("kickoff_time")
+
+
+class Robot:
+    """One named connection, composed of components; operations delegate to a backend."""
+    @staticmethod
+    def connect(name: str | None = None, *, bridge: Bridge | None = None,
+                speed: float = 60, **options: Any) -> Robot:
+        """Create a connected robot; release it with disconnect()."""
+        if bridge is not None:
+            if name is not None or options:
+                raise ValueError("Bei bridge= nur die Bridge und optional speed angeben.")
+            return bridge._connect(speed=speed)
+        from edu_robot_api import connect_robot
+        return connect_robot(name, speed=speed, **options)
+
+    def __init__(self, backend: Backend, *, name: str, model: str, speed: float = 60,
+                 components: Sequence[Mapping[str, Any]] | None = None) -> None:
+        self._backend, self.name, self.model = backend, name, model
+        self.id = name
+        self.memory: dict[str, Any] = {}
+        self._closed = False
+        self._speed = abs(percent(speed))
+        self._capabilities = backend.call("capabilities")
+        self.simulation = SimulationView(self)
+        self._sensors: dict[str, Sensor[Any]] = {}
+        self._actuators: dict[str, Actuator] = {}
+        for key in self._capabilities["sensors"]:
+            cls: type[Sensor[Any]] = DistanceSensor if key.startswith("distance_") else LineSensor if key.startswith("line_") and key != "line_raw" else ContactSensor if key.startswith("bumper_") else Sensor
+            self._sensors[key] = cls(self, key, key, position=key.split("_", 1)[1] if "_" in key else None)
+        count = self._capabilities.get("motor_count", 2)
+        wheel_names = ["motor_left", "motor_right"] if count == 2 else ["motor_front_left", "motor_rear_left", "motor_front_right", "motor_rear_right"]
+        self._wheels = [DCMotor(self, key, key, position=key.removeprefix("motor_")) for key in wheel_names]
+        self._powers = [0.0] * count
+        self._angles = {"camera_pan": 90.0, "camera_tilt": 90.0}
+        self._led_count = 4 if count == 2 else 12
+        self._actuators.update((motor.name, motor) for motor in self._wheels)
+        commands = self._capabilities["commands"]
+        if "camera" in commands:
+            self._sensors["camera"] = Camera(self, "camera", "camera", position="front")
+        for command, key, actuator_cls in [("rgb_led", "rgb_leds", RGBLights), ("buzzer", "buzzer", Buzzer), ("matrix_mode", "matrix", LEDMatrix), ("kick", "kicker", Kicker)]:
+            if command in commands:
+                self._actuators[key] = actuator_cls(self, key, key)
+        if "camera_orientation" in commands:
+            for key in self._angles:
+                self._actuators[key] = ServoMotor(self, key, key, minimum=80 if key == "camera_tilt" else 0)
+        if components is not None:
+            known = {component.id: component for component in [*self._sensors.values(), *self._actuators.values()]}
+            sensors: dict[str, Sensor[Any]] = {}
+            actuators: dict[str, Actuator] = {}
+            seen: set[str] = set()
+            for spec in components:
+                identifier, label = spec.get("id"), spec.get("name")
+                if identifier not in known or identifier in seen or not isinstance(label, str) or not label.strip():
+                    raise ValueError("Ungültige Bauteilbeschreibung der Bridge.")
+                seen.add(identifier)
+                component = known[identifier]
+                if spec.get("type") != type(component).__name__:
+                    raise ValueError("Bauteiltyp passt nicht zum Modell: " + identifier)
+                registry: dict[str, Any] = sensors if isinstance(component, Sensor) else actuators
+                if label in registry:
+                    raise ValueError("Doppelter Bauteilname: " + label)
+                component._name, component.position = label, spec.get("position")
+                registry[label] = component
+            if any(wheel.id not in seen for wheel in self._wheels):
+                raise ValueError("Die Beschreibung enthält nicht alle Antriebsmotoren.")
+            self._sensors, self._actuators = sensors, actuators
+
+    def _call(self, operation: str, *args: Any) -> Any:
+        if self._closed:
+            raise RuntimeError("Verbindung ist geschlossen.")
+        return self._backend.call(operation, *args)
+
+    def sensors(self) -> dict[str, Sensor[Any]]:
+        return dict(self._sensors)
+
+    def actuators(self) -> dict[str, Actuator]:
+        return dict(self._actuators)
+
+    def rename(self, component: Component, name: str) -> None:
+        registry: dict[str, Any] = self._sensors if isinstance(component, Sensor) else self._actuators
+        if component._robot is not self or registry.get(component.name) is not component:
+            raise ValueError("Bauteil gehört nicht zu diesem Roboter.")
+        if not isinstance(name, str) or not name.strip():
+            raise ValueError("Bauteilname darf nicht leer sein.")
+        if name in registry and registry[name] is not component:
+            raise ValueError("Bauteilname ist bereits vergeben: " + name)
+        # Rebuild in place to preserve mounting/selection order.
+        entries = [(name if value is component else key, value) for key, value in registry.items()]
+        registry.clear()
+        registry.update(entries)
+        component._name = name
+
+    def read_sensors(self, selection: Sequence[Sensor[Any] | str] | None = None) -> SensorReadings:
+        if isinstance(selection, (str, bytes)):
+            raise TypeError("Sensoren als Liste übergeben, zum Beispiel ['line_left'].")
+        selected = list(self._sensors.values()) if selection is None else [self._sensors[s] if isinstance(s, str) else s for s in selection]
+        if any(not isinstance(s, Sensor) or s._robot is not self or self._sensors.get(s.name) is not s for s in selected):
+            raise ValueError("Sensor gehört nicht zu diesem Roboter.")
+        if len(set(selected)) != len(selected):
+            raise ValueError("Sensor wurde mehrfach angefordert.")
+        if not selected:
+            return SensorReadings([], [])
+        # One telemetry refresh for all requested non-camera values. Never call read() in a loop.
+        values = self._call("update_sensors") if any(not isinstance(s, Camera) for s in selected) else {}
+        return SensorReadings(selected, [self._call("camera_image") if isinstance(s, Camera) else values.get(s._channel) for s in selected])
+
+    def _set_motor(self, motor: DCMotor, power: float) -> None:
+        powers = self._powers.copy()
+        powers[self._wheels.index(motor)] = power
+        self.set_motors(*powers)
+
+    def _set_servo(self, servo: ServoMotor, angle: float) -> None:
+        angles = dict(self._angles)
+        angles[servo._channel] = angle
+        self._call("camera_orientation", angles["camera_pan"], angles["camera_tilt"])
+        self._angles = angles
+
+    def set_motors(self, *powers: float) -> None:
+        if len(powers) != len(self._wheels):
+            raise ValueError("Anzahl der Motorwerte passt nicht zum Modell.")
+        values = [percent(p) for p in powers]
+        self._call("set_motors", *values)
+        self._powers = values
+
+    def drive(self, linear: float, turn: float = 0) -> None:
+        left, right = motor_pair(linear, turn)
+        self.set_motors(*([left, right] if len(self._wheels) == 2 else [left, left, right, right]))
+
+    def forward(self, power: float | None = None) -> None:
+        self.drive(self._speed if power is None else percent(power))
+
+    def backward(self, power: float | None = None) -> None:
+        self.drive(-(self._speed if power is None else abs(percent(power))))
+
+    def turn_left(self, power: float | None = None) -> None:
+        self.drive(0, -(self._speed if power is None else abs(percent(power))))
+
+    def turn_right(self, power: float | None = None) -> None:
+        self.drive(0, self._speed if power is None else abs(percent(power)))
+
+    def stop(self) -> None:
+        self._call("stop")
+        self._powers = [0.0] * len(self._wheels)
+
+    def speed(self) -> float:
+        return self._speed
+
+    def set_speed(self, speed: float) -> None:
+        self._speed = abs(percent(speed))
+
+    def capabilities(self) -> dict[str, Any]:
+        result = deepcopy(self._capabilities)
+        result["sensors"] = list(self._sensors)
+        result["actuators"] = list(self._actuators)
+        result["commands"] = ["sensors", "actuators", "read_sensors", "rename", "drive", "set_motors",
+                              "forward", "backward", "turn_left", "turn_right", "stop", "speed",
+                              "set_speed", "time", "log", "disconnect", "close", "capabilities"]
+        return result
+
+    def time(self) -> float:
+        return self._call("time")
+
+    def log(self, message: object) -> None:
+        self._call("log", str(message))
+
+    def disconnect(self) -> None:
+        """Stop motors and release this control connection; idempotent."""
+        if self._closed:
+            return
+        try:
+            self.stop()
+        finally:
+            try:
+                self._backend.call("close")
+            finally:
+                self._closed = True
+
+    def close(self) -> None:
+        """Compatibility alias for disconnect()."""
+        self.disconnect()
+
+    def __enter__(self) -> Robot:
+        if self._closed:
+            raise RuntimeError("Verbindung ist geschlossen.")
+        return self
+
+    def __exit__(self, exc_type: Any, exc_value: Any, traceback: Any) -> None:
+        self.close()
+
+
+class Bridge:
+    """Lifecycle of an explicitly selected robot endpoint. Factories do no I/O."""
+    def __init__(self) -> None:
+        self._started = False
+        self._connection: Robot | None = None
+
+    def start(self) -> None:
+        raise NotImplementedError
+
+    def stop(self) -> None:
+        self._started = False
+
+    def _require_ready(self) -> None:
+        if not self._started:
+            raise RuntimeError("Zuerst bridge.start() aufrufen.")
+        if self._connection is not None and not self._connection._closed:
+            raise RuntimeError("Diese Bridge hat bereits eine Steuerverbindung.")
+
+    def _connect(self, *, speed: float = 60) -> Robot:
+        raise NotImplementedError
+
+
+class WorkbenchBridge(Bridge):
+    """Select a robot in the current Workbench world; no native process."""
+    robot_name: str
+    @classmethod
+    def create(cls, *, robot_name: str) -> WorkbenchBridge:
+        if not isinstance(robot_name, str) or not robot_name.strip():
+            raise ValueError("Ein Robotername aus dem Welteditor ist erforderlich.")
+        instance = cls()
+        instance.robot_name = robot_name
+        return instance
+
+    def start(self) -> None:
+        import edu_robot_api
+        prepare = getattr(edu_robot_api, "_prepare_workbench_bridge", None)
+        if prepare is None:
+            raise RuntimeError("WorkbenchBridge ist nur in RoboWorkbench verfügbar.")
+        prepare(self.robot_name)
+        self._started = True
+
+    def _connect(self, *, speed: float = 60) -> Robot:
+        self._require_ready()
+        import edu_robot_api
+        self._connection = edu_robot_api.connect_robot(self.robot_name, speed=speed)
+        return self._connection

edu_robot_api/connection.py

@@ -0,0 +1,12 @@
+"""Optional legacy connection hook. Explicit Bridge objects need no discovery."""
+from importlib.metadata import entry_points
+
+
+def connect_robot(name=None, **options):
+    connectors = list(entry_points(group="edu_robot_api.connectors", name="default"))
+    if len(connectors) != 1:
+        raise RuntimeError(
+            "No unambiguous default connection is configured. "
+            "Use Robot.connect(bridge=...) with a bridge supplied by your application."
+        )
+    return connectors[0].load()(name, **options)

edu_robot_api/core.py

@@ -0,0 +1,219 @@
+"""Portable Python API. This same source is also executed by RoboWorkbench.
+
+The backend is a dictionary of callables; no transport, device or browser globals
+are exposed to learning programs. Distances are cm, angles degrees, motor power %.
+"""
+
+
+from edu_robot_api.components import CapabilityUnavailable
+
+
+def percent(value):
+    if isinstance(value, bool) or not isinstance(value, (int, float)):
+        raise ValueError("Motorleistung muss eine endliche Zahl sein.")
+    if value != value or abs(value) == float("inf"):
+        raise ValueError("Motorleistung muss eine endliche Zahl sein.")
+    return max(-100, min(100, value))
+
+
+def motor_pair(linear, turn):
+    """Positive turn turns right: the left wheels run faster than the right."""
+    linear, turn = percent(linear), percent(turn)
+    return percent(linear + turn), percent(linear - turn)
+
+
+class Robot:
+    def __init__(self, backend, name="Robot", model="simulation", speed=60):
+        self._backend = backend
+        self.id = name
+        self.model = model
+        self.memory = {}
+        self._speed = abs(percent(speed))
+
+    def capabilities(self):
+        return self._backend["capabilities"]()
+
+    def has_sensor(self, name):
+        return name in self.capabilities()["sensors"]
+
+    def supports(self, name):
+        capabilities = self.capabilities()
+        return name in capabilities["commands"] or name in capabilities["sensors"]
+
+    def _require(self, name):
+        if not self.supports(name):
+            raise CapabilityUnavailable("Fähigkeit nicht verfügbar: " + name)
+
+    def drive(self, linear, turn=0):
+        return self._backend["drive"](percent(linear), percent(turn))
+
+    def forward(self, speed=None):
+        return self.drive(self._speed if speed is None else speed, 0)
+
+    def backward(self, speed=None):
+        return self.drive(-abs(self._speed if speed is None else percent(speed)), 0)
+
+    def turn_left(self, speed=None):
+        return self.drive(0, -abs(self._speed if speed is None else percent(speed)))
+
+    def turn_right(self, speed=None):
+        return self.drive(0, abs(self._speed if speed is None else percent(speed)))
+
+    def stop(self):
+        return self._backend["stop"]()
+
+    def set_motors(self, *values):
+        """Individual motor outputs in percent, in the model's motor order."""
+        self._require("set_motors")
+        if len(values) != self.capabilities()["motor_count"]:
+            raise ValueError("Anzahl der Motorwerte passt nicht zum Modell.")
+        return self._backend["set_motors"](*(percent(value) for value in values))
+
+    def speed(self):
+        return self._speed
+
+    def set_speed(self, speed):
+        self._speed = abs(percent(speed))
+
+    def update_sensors(self):
+        """Refresh once, then read a consistent snapshot using read_sensor()."""
+        return self._backend["update_sensors"]()
+
+    def sensors(self):
+        return self._backend["sensors"]()
+
+    def read_sensor(self, name):
+        if not self.has_sensor(name):
+            raise CapabilityUnavailable("Sensor nicht verfügbar: " + name)
+        return self.sensors().get(name)
+
+    def distance_front(self):
+        return self.read_sensor("distance_front")
+
+    def distance_left(self):
+        return self.read_sensor("distance_left")
+
+    def distance_right(self):
+        return self.read_sensor("distance_right")
+
+    def line_left(self):
+        return self.read_sensor("line_left")
+
+    def line_right(self):
+        return self.read_sensor("line_right")
+
+    def bumper_left(self):
+        return self.read_sensor("bumper_left")
+
+    def bumper_right(self):
+        return self.read_sensor("bumper_right")
+
+    def obstacle_ahead(self, threshold_cm=30):
+        if isinstance(threshold_cm, bool) or not isinstance(threshold_cm, (int, float)) or not 0 <= threshold_cm < float("inf"):
+            raise ValueError("Abstand muss eine endliche, nicht negative Zahl sein.")
+        value = self.distance_front()
+        return None if value is None else value < threshold_cm
+
+    def set_rgb(self, index, red, green, blue):
+        self._require("rgb_led")
+        for value in (red, green, blue):
+            if isinstance(value, bool) or not isinstance(value, int) or not 0 <= value <= 255:
+                raise ValueError("RGB-Werte müssen ganze Zahlen von 0 bis 255 sein.")
+        return self._backend["rgb_led"](index, red, green, blue)
+
+    def camera_frame(self):
+        self._require("camera")
+        return self._backend["camera"]()
+
+    def camera_image(self):
+        """Full-resolution image, using the same portable RGB format as camera_frame."""
+        self._require("camera_image")
+        return self._backend["camera_image"]()
+
+    def start_camera(self):
+        self._require("start_camera")
+        return self._backend["start_camera"]()
+
+    def stop_camera(self):
+        self._require("stop_camera")
+        return self._backend["stop_camera"]()
+
+    def set_rgb_mode(self, mode):
+        self._require("rgb_mode")
+        if isinstance(mode, bool) or not isinstance(mode, int) or not 0 <= mode <= 5:
+            raise ValueError("LED-Modus muss eine ganze Zahl von 0 bis 5 sein.")
+        return self._backend["rgb_mode"](mode)
+
+    def set_matrix_mode(self, mode):
+        self._require("matrix_mode")
+        if isinstance(mode, bool) or not isinstance(mode, int) or not 0 <= mode <= 3:
+            raise ValueError("Matrix-Modus muss eine ganze Zahl von 0 bis 3 sein.")
+        return self._backend["matrix_mode"](mode)
+
+    def set_camera_orientation(self, pan, tilt):
+        self._require("camera_orientation")
+        for value in (pan, tilt):
+            if isinstance(value, bool) or not isinstance(value, (int, float)) or not 0 <= value <= 180:
+                raise ValueError("Servowinkel muss zwischen 0 und 180 Grad liegen.")
+        return self._backend["camera_orientation"](pan, tilt)
+
+    def buzzer(self, enabled=True, frequency=2000):
+        self._require("buzzer")
+        if not isinstance(enabled, bool) or isinstance(frequency, bool) or not isinstance(frequency, int) or not 20 <= frequency <= 20000:
+            raise ValueError("Summer: bool und Frequenz von 20 bis 20000 Hz erwartet.")
+        return self._backend["buzzer"](enabled, frequency)
+
+    def time(self):
+        return self._backend["time"]()
+
+    def log(self, message):
+        return self._backend["log"](str(message))
+
+    def close(self):
+        try:
+            self.stop()
+        finally:
+            self._backend["close"]()
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.close()
+
+    # Explicit simulation capabilities: these are never claimed by real hardware.
+    def position(self):
+        self._require("position")
+        return self._backend["position"]()
+
+    def ball_position(self):
+        self._require("ball_position")
+        return self._backend["ball_position"]()
+
+    def opponent_position(self):
+        self._require("opponent_position")
+        return self._backend["opponent_position"]()
+
+    def goal_position(self):
+        self._require("goal_position")
+        return self._backend["goal_position"]()
+
+    def ball_distance(self):
+        self._require("ball_distance")
+        return self._backend["ball_distance"]()
+
+    def ball_angle(self):
+        self._require("ball_angle")
+        return self._backend["ball_angle"]()
+
+    def kick(self, power=75):
+        self._require("kick")
+        return self._backend["kick"](max(0, percent(power)))
+
+    def kickoff_wait(self):
+        self._require("kickoff_wait")
+        return self._backend["kickoff_wait"]()
+
+    def kickoff_time(self):
+        self._require("kickoff_time")
+        return self._backend["kickoff_time"]()

edu_robot_api/imaging.py

@@ -0,0 +1,21 @@
+"""Optional native image helpers; the public camera data remains portable RGB."""
+
+def camera_rgb(robot):
+    """Full camera image as a portable RGB dictionary (width, height, pixels).
+
+    The same learner call works in CPython and the browser. NumPy is not needed.
+    """
+    return robot.sensors()["camera"].read() if hasattr(robot, "read_sensors") else robot.camera_image()
+
+
+def rgb_array(image):
+    import numpy as np
+    if image is None:
+        return None
+    pixels = np.asarray(image["pixels"], dtype=np.uint32).reshape(image["height"], image["width"])
+    return np.stack(((pixels >> 16) & 255, (pixels >> 8) & 255, pixels & 255), axis=-1).astype(np.uint8)
+
+
+def camera_bgr(robot):
+    image = rgb_array(camera_rgb(robot))
+    return None if image is None else image[:, :, ::-1].copy()

edu_robot_api-0.6.0.dist-info/METADATA

@@ -0,0 +1,106 @@
+Metadata-Version: 2.4
+Name: edu_robot_api
+Version: 0.6.0
+Summary: A typed Python robot API for education, independent of hardware and transport
+License-Expression: Apache-2.0
+Project-URL: Documentation, https://github.com/henningmattes/edu_robot_api#readme
+Project-URL: Repository, https://github.com/henningmattes/edu_robot_api
+Project-URL: Issues, https://github.com/henningmattes/edu_robot_api/issues
+Classifier: Programming Language :: Python :: 3
+Classifier: Typing :: Typed
+Classifier: Intended Audience :: Education
+Classifier: Topic :: Education
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Provides-Extra: images
+Requires-Dist: numpy; extra == "images"
+Requires-Dist: pillow; extra == "images"
+Dynamic: license-file
+
+# edu_robot_api
+
+A small, typed Python API for educational robotics. It represents robots,
+sensors and actuators as Python objects and provides a consistent interface
+for reading measurements and issuing movement commands.
+
+RoboWorkbench uses the API for independent virtual learning robots. Their
+behavior is defined by the learning environment. Available components,
+measurements and motion depend on the selected model and world.
+
+## Installation
+
+Requires Python 3.11 or later. Install from PyPI with pip:
+
+```sh
+python -m pip install edu_robot_api
+```
+
+Alternatively, install a downloaded wheel:
+
+```sh
+python -m pip install edu_robot_api-0.6.0-py3-none-any.whl
+```
+
+In the RoboWorkbench web app, no local installation is needed.
+
+## Documentation
+
+See the [user guide and API overview](https://github.com/henningmattes/edu_robot_api#readme)
+for examples and the class diagram. The
+[source repository](https://github.com/henningmattes/edu_robot_api)
+also provides the library source code.
+
+## Programming in RoboWorkbench
+
+The web app provides the connected robot for the current editor as `rob`.
+Each robot program controls its own robot. The environment stops the robot
+and releases the connection when the program finishes, fails or is aborted.
+
+```python
+import time
+
+
+def program(robot):
+    sensor = robot.sensors()["distance_front"]
+    while True:
+        distance = sensor.read()
+        if distance is None or distance < 25:
+            robot.stop()
+        else:
+            robot.forward(30)
+        time.sleep(0.03)
+
+
+program(rob)
+```
+
+This example requires a front distance sensor. In a standalone Python
+application, the application must supply the robot object and its backend;
+installing the API alone does not create a robot or a running simulation.
+
+## Components and readings
+
+`robot.sensors()` and `robot.actuators()` return dictionaries of component
+objects. Use `sensor.read()` for an individual reading or
+`robot.read_sensors()` for a snapshot. Snapshot values can be selected by
+sensor object, captured name or position in the selection.
+
+```python
+left = rob.sensors()["line_left"]
+right = rob.sensors()["line_right"]
+values = rob.read_sensors([left, right])
+print(values[left], values[right])
+```
+
+The package exports `Robot`, `Sensor`, `Actuator`, typed component classes,
+`SensorReadings`, `Bridge`, `Backend` and `FunctionBackend`. Python applications
+can implement the backend contract to provide measurements and execute commands.
+
+Motor power is expressed as a percentage, distance in centimeters and angles
+in degrees. Motor power is not a guaranteed speed. `None` indicates an unavailable
+measurement; missing capabilities and connection failures can raise exceptions.
+
+## License
+
+The library is licensed under the Apache License, Version 2.0. See LICENSE.

edu_robot_api-0.6.0.dist-info/RECORD

@@ -0,0 +1,11 @@
+edu_robot_api/__init__.py,sha256=oo3YjmHUclU_DoAg5M5pMQHUT0kbm7aHM-O6UBVPzh0,1112
+edu_robot_api/components.py,sha256=-lKMdeUKXgBfQzKwwsl5rz6CSKZ3Je29FhS8Aqa9-K0,19634
+edu_robot_api/connection.py,sha256=x5Lw0kZD9eRuWgfngVa1D777cygT4xgAXDAQvFsIaQQ,535
+edu_robot_api/core.py,sha256=W6R12l_Av-Rgfge09d-KX24evBUEVFkfjTSb4BfxHmM,7744
+edu_robot_api/imaging.py,sha256=NBXeperorZV6KWG_bth-5WrlMNSTIVvXs5rRZIm_6uE,801
+edu_robot_api/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+edu_robot_api-0.6.0.dist-info/licenses/LICENSE,sha256=Pd-b5cKP4n2tFDpdx27qJSIq0d1ok0oEcGTlbtL6QMU,11560
+edu_robot_api-0.6.0.dist-info/METADATA,sha256=0rQIQqjrpOseADrYinSuLWTjfQt4chzDoUF7wjJdCeE,3671
+edu_robot_api-0.6.0.dist-info/WHEEL,sha256=aeYiig01lYGDzBgS8HxWXOg3uV61G9ijOsup-k9o1sk,91
+edu_robot_api-0.6.0.dist-info/top_level.txt,sha256=JpDu0udUdXMJYeVepD4WWC7hbjcNEQg48iN0rC9xjkQ,14
+edu_robot_api-0.6.0.dist-info/RECORD,,

edu_robot_api-0.6.0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (82.0.1)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

edu_robot_api-0.6.0.dist-info/licenses/LICENSE

@@ -0,0 +1,202 @@
+
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edu_robot_api-0.6.0.dist-info/top_level.txt

@@ -0,0 +1 @@
+edu_robot_api