scirodev 0.3.0__tar.gz → 0.4.0__tar.gz

{scirodev-0.3.0/scirodev.egg-info → scirodev-0.4.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scirodev
-Version: 0.3.0
+Version: 0.4.0
 Summary: PeakHub / sciro extensions to Pybricks: typed API stubs (sciro.*) and hub tooling on top of pybricksdev
 Author: Thomas Schank
 License: MIT
@@ -50,6 +50,10 @@ cog_dark, cog_bright, brightness, darkness, mask, calibrating = fp.line.read()
 hub.display.device(fp, brightness=50)      # mirror the sensor's LED strip on the 5x5
 ```
 
+Full demo programs for the LP FloorPro (both for LEGO hubs and the PeakHub) live in
+[sciurus-robotics/FloorPro-CodeDemos](https://github.com/sciurus-robotics/FloorPro-CodeDemos);
+`examples/` here stays minimal.
+
 On the hub these modules are frozen into the PeakHub firmware:
 `sciro.parameters` and `sciro.iodevices` re-export the same runtime objects as
 their `pybricks.*` counterparts, so `sciro.parameters.Port is

{scirodev-0.3.0 → scirodev-0.4.0}/README.md

@@ -30,6 +30,10 @@ cog_dark, cog_bright, brightness, darkness, mask, calibrating = fp.line.read()
 hub.display.device(fp, brightness=50)      # mirror the sensor's LED strip on the 5x5
 ```
 
+Full demo programs for the LP FloorPro (both for LEGO hubs and the PeakHub) live in
+[sciurus-robotics/FloorPro-CodeDemos](https://github.com/sciurus-robotics/FloorPro-CodeDemos);
+`examples/` here stays minimal.
+
 On the hub these modules are frozen into the PeakHub firmware:
 `sciro.parameters` and `sciro.iodevices` re-export the same runtime objects as
 their `pybricks.*` counterparts, so `sciro.parameters.Port is

{scirodev-0.3.0 → scirodev-0.4.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "scirodev"
-version = "0.3.0"
+version = "0.4.0"
 description = "PeakHub / sciro extensions to Pybricks: typed API stubs (sciro.*) and hub tooling on top of pybricksdev"
 readme = "README.md"
 requires-python = ">=3.10"

{scirodev-0.3.0 → scirodev-0.4.0}/sciro/floorpro.py

@@ -4,6 +4,7 @@ class lives now). Kept so older programs keep type-checking.
 
 from .pump import (  # noqa: F401  (re-exports)
     IMU as IMU,
+    Gyro as Gyro,
     ColorSensor as ColorSensor,
     FloorPro as FloorPro,
     IRCalib as IRCalib,

{scirodev-0.3.0 → scirodev-0.4.0}/sciro/iodevices.py

@@ -49,6 +49,15 @@ class PUMPDevice:
             ``{"url": str, "serial": str, "streams": ((id, url, ext_port, state_len), ...)}``
         """
 
+    def stats(self) -> Dict[str, Union[int, Tuple[Tuple[int, int, int], ...]]]:
+        """stats() -> Dict
+
+        Link counters since the session started, for load tests and diagnostics:
+        ``{"frames": good frames received, "crc_errors", "cobs_errors",
+        "short_frames", "overflows", "streams": ((id, frames, gaps), ...)}``
+        where ``gaps`` counts frames of that stream the hub never received.
+        """
+
     def state(self, stream: int) -> Optional[bytes]:
         """state(stream) -> bytes | None
 
@@ -75,5 +84,6 @@ class PUMPDevice:
         """subscribe(stream, mode, rate=0)
 
         Changes only the stream-control word (keeps the device-specific state
-        bytes). ``rate`` is in units of 10 Hz, 0 = every sample.
+        bytes). ``rate`` is in Hz (1 .. 255; higher values are clamped to 255),
+        0 = every sample.
         """

{scirodev-0.3.0 → scirodev-0.4.0}/sciro/parameters.py

@@ -28,3 +28,14 @@ class Port(_PybricksEnum):
     F: Port = ord("F")
     G: Port = ord("G")
     H: Port = ord("H")
+
+
+class ExtPort:
+    """Extension port of a PUMP device (1-based, as in its stream table)."""
+
+    EXT1: int = 1
+    EXT2: int = 2
+    EXT3: int = 3
+    EXT4: int = 4
+    EXT5: int = 5
+    EXT6: int = 6

{scirodev-0.3.0 → scirodev-0.4.0}/sciro/pump.py

@@ -8,10 +8,10 @@ value directly, or an awaitable under multitasking.
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Optional, Tuple
+from typing import TYPE_CHECKING, Iterable, Optional, Tuple, Union
 
 if TYPE_CHECKING:
-    from pybricks._common import MaybeAwaitable, MaybeAwaitableFloat
+    from pybricks._common import MaybeAwaitable, MaybeAwaitableColor, MaybeAwaitableFloat
 
     from ._common import (
         MaybeAwaitableEuler,
@@ -24,6 +24,8 @@ if TYPE_CHECKING:
 
 from .iodevices import PUMPDevice as PUMPDevice  # noqa: F401  (re-export)
 from .iodevices import StreamInfo
+from pybricks.parameters import Color
+
 from .parameters import Port as _Port
 
 
@@ -32,7 +34,7 @@ class _Stream:
     id: int
 
     def subscribe(self, mode: int, rate: int = 0) -> MaybeAwaitable:
-        """subscribe(mode, rate=0)  -- see :meth:`PUMPDevice.subscribe`."""
+        """subscribe(mode, rate=0)  -- rate in Hz, 0 = every sample; see :meth:`PUMPDevice.subscribe`."""
 
     def state(self) -> Optional[bytes]:
         """state() -> bytes | None  -- the stream's current state prefix."""
@@ -94,15 +96,49 @@ class Pixels(_Stream):
 
 
 class ColorSensor(_Stream):
-    """TCS3400 on an extension port: raw R, G, B, C at device resolution.
+    """TCS3400 colour sensor on an extension port of a PUMP device.
+
+    ``ColorSensor(port, ext_port)`` opens it directly; :meth:`FloorPro.color_sensor`
+    returns the same class. ``hsv()`` and ``color()`` follow
+    ``pybricks.pupdevices.ColorSensor``.
 
     Every sample is tagged with the settings it was measured under, so a read
     after a settings change waits for the first sample taken with the new
     settings.
     """
 
+    ext_port: int
+
+    def __init__(self, port: Union[_Port, PUMPDevice], ext_port: int = 1):
+        """ColorSensor(port, ext_port=ExtPort.EXT1)
+
+        Arguments:
+            port (Port): Hub port of the PUMP device carrying the sensor (or the
+                opened ``PUMPDevice`` itself).
+            ext_port (ExtPort): Extension port the sensor is plugged into.
+                Raises ``OSError`` if there is no colour sensor there.
+        """
+
     def read(self) -> MaybeAwaitableRGBC:
-        """read() -> Tuple[int, int, int, int, int]  -- (red, green, blue, clear, status)."""
+        """read() -> Tuple[int, int, int, int, int]  -- raw (red, green, blue, clear, status) at device resolution."""
+
+    def hsv(self) -> MaybeAwaitableColor:
+        """hsv() -> Color
+
+        Hue (0 .. 359), saturation (0 .. 100) and value (0 .. 100) of the
+        surface, as a ``Color``. Standard HSV of the raw reading; value is
+        relative to the full scale of the current integration time.
+        """
+
+    def color(self) -> MaybeAwaitableColor:
+        """color() -> Color
+
+        The nearest of the detectable colours (default: red, yellow, green,
+        blue, white, none), matched like ``pybricks.pupdevices.ColorSensor``.
+        """
+
+    def detectable_colors(self, colors: Optional[Iterable[Color]] = None) -> Optional[Tuple[Color, ...]]:
+        """detectable_colors(colors)  -- set the colours color() chooses from; with no argument, get them."""
 
     def settings(self) -> Tuple[int, int, int]:
         """settings() -> Tuple[int, int, int]  -- (led_percent, gain_x, atime) in effect."""
@@ -117,13 +153,26 @@ class ColorSensor(_Stream):
         """set_integration(atime)  -- TCS3400 ATIME register 0 .. 255: (256 - atime) * 2.78 ms."""
 
 
-class IMU(_Stream):
-    """BNO086 on an extension port: roll, pitch, yaw in degrees.
+class Gyro(_Stream):
+    """Gyro (BNO086) on an extension port of a PUMP device: roll, pitch, yaw in degrees.
 
-    The heading offset lives on the hub: :meth:`reset_heading` makes the current
-    yaw read as the given angle.
+    ``Gyro(port, ext_port)`` opens it directly; :meth:`FloorPro.gyro` returns the
+    same class (``IMU`` is an alias). The heading offset lives on the hub:
+    :meth:`reset_heading` makes the current yaw read as the given angle.
     """
 
+    ext_port: int
+
+    def __init__(self, port: Union[_Port, PUMPDevice], ext_port: int = 2):
+        """Gyro(port, ext_port=ExtPort.EXT2)
+
+        Arguments:
+            port (Port): Hub port of the PUMP device carrying the gyro (or the
+                opened ``PUMPDevice`` itself).
+            ext_port (ExtPort): Extension port the gyro is plugged into. Raises
+                ``OSError`` if there is no gyro there.
+        """
+
     def read(self) -> MaybeAwaitableEuler:
         """read() -> Tuple  -- (roll, pitch, yaw, status), degrees; yaw includes the offset."""
 
@@ -134,6 +183,10 @@ class IMU(_Stream):
         """reset_heading(angle=0)  -- make the current heading read as ``angle``."""
 
 
+IMU = Gyro
+"""Alias of :class:`Gyro`."""
+
+
 class FloorPro:
     """LP-FloorPro connected to a PeakHub port, speaking PUMP."""
 
@@ -161,8 +214,11 @@ class FloorPro:
         The TCS3400 on extension port 1 or 2; raises ``OSError`` if none.
         """
 
-    def imu(self, ext_port: int = 2) -> IMU:
-        """imu(ext_port=2) -> IMU  -- the BNO086 on extension port 1 or 2; raises ``OSError`` if none."""
+    def gyro(self, ext_port: int = 2) -> Gyro:
+        """gyro(ext_port=2) -> Gyro  -- the gyro on extension port 1 or 2; raises ``OSError`` if none."""
+
+    def imu(self, ext_port: int = 2) -> Gyro:
+        """imu(ext_port=2) -> Gyro  -- alias of :meth:`gyro`."""
 
     def streams(self) -> Tuple[StreamInfo, ...]:
         """streams() -> Tuple  -- the enumerated streams ``(id, url, ext_port, state_len)``."""

{scirodev-0.3.0 → scirodev-0.4.0/scirodev.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scirodev
-Version: 0.3.0
+Version: 0.4.0
 Summary: PeakHub / sciro extensions to Pybricks: typed API stubs (sciro.*) and hub tooling on top of pybricksdev
 Author: Thomas Schank
 License: MIT
@@ -50,6 +50,10 @@ cog_dark, cog_bright, brightness, darkness, mask, calibrating = fp.line.read()
 hub.display.device(fp, brightness=50)      # mirror the sensor's LED strip on the 5x5
 ```
 
+Full demo programs for the LP FloorPro (both for LEGO hubs and the PeakHub) live in
+[sciurus-robotics/FloorPro-CodeDemos](https://github.com/sciurus-robotics/FloorPro-CodeDemos);
+`examples/` here stays minimal.
+
 On the hub these modules are frozen into the PeakHub firmware:
 `sciro.parameters` and `sciro.iodevices` re-export the same runtime objects as
 their `pybricks.*` counterparts, so `sciro.parameters.Port is