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pybricks.iodevices: Update PUPDevice and LUMPDevice.

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Also remove Ev3devSensor, which is no longer used.
This commit is contained in:
Laurens Valk
2026-05-29 12:30:58 +02:00
parent 45b9b89d11
commit 1f8f0f777a
5 changed files with 95 additions and 73 deletions
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doc/common/extensions/requirements-static.py
+6 -6
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@@ -22,16 +22,16 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
# Features per hub.
HUB_FEATURES = {
"movehub": {"movehub", "ble"} | FEATURES_SMALL,
"cityhub": {"cityhub", "ble"} | FEATURES_MEDIUM,
"technichub": {"technichub", "gyro", "xbox-controller", "ble"} | FEATURES_MEDIUM,
"movehub": {"movehub", "pup"} | FEATURES_SMALL,
"cityhub": {"cityhub", "pup"} | FEATURES_MEDIUM,
"technichub": {"technichub", "gyro", "xbox-controller", "pup"} | FEATURES_MEDIUM,
"primehub": {
"primehub",
"inventorhub",
"light-matrix",
"gyro",
"xbox-controller",
"ble",
"pup",
}
| FEATURES_LARGE,
"inventorhub": {
@@ -40,10 +40,10 @@ HUB_FEATURES = {
"light-matrix",
"gyro",
"xbox-controller",
"ble",
"pup",
}
| FEATURES_LARGE,
"essentialhub": {"essentialhub", "gyro", "xbox-controller", "ble"} | FEATURES_LARGE,
"essentialhub": {"essentialhub", "gyro", "xbox-controller", "pup"} | FEATURES_LARGE,
}
doc/main/iodevices/index.rst
+16 -7
View File
@@ -1,5 +1,3 @@
.. pybricks-requirements:: pybricks-iodevices
:mod:`iodevices <pybricks.iodevices>` -- Custom devices
============================================================
@@ -15,11 +13,7 @@
This module has classes for generic and custom input/output devices.
.. pybricks-classlink:: PUPDevice
.. figure:: ../../main/cad/output/iodevice-pupdevice.png
:width: 50 %
:target: pupdevice.html
.. pybricks-requirements:: pybricks-iodevices
.. pybricks-classlink:: LWP3Device
@@ -27,8 +21,23 @@ This module has classes for generic and custom input/output devices.
:width: 80 %
:target: lwp3device.html
.. pybricks-requirements:: pybricks-iodevices
.. pybricks-classlink:: XboxController
.. figure:: ../../main/diagrams_source/xboxcontroller.png
:width: 40 %
:target: xboxcontroller.html
.. pybricks-requirements:: pybricks-iodevices
.. pybricks-classlink:: PUPDevice
.. figure:: ../../main/cad/output/iodevice-pupdevice.png
:width: 50 %
:target: pupdevice.html
.. pybricks-requirements:: ev3 pybricks-iodevices
.. autoclass:: LUMPDevice
:no-members:
doc/main/messaging/index.rst
+1 -1
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@@ -4,7 +4,7 @@
.. automodule:: pybricks.messaging
:no-members:
.. pybricks-requirements:: ble
.. pybricks-requirements:: pup
.. autoclass:: pybricks.messaging.BLERadio
:no-members:
jedi/tests/test_complete_import.py
-1
View File
@@ -104,7 +104,6 @@ def test_from_pybricks_iodevices_import():
assert [c["insertText"] for c in completions] == [
"AnalogSensor",
"DCMotor",
"Ev3devSensor",
"I2CDevice",
"LUMPDevice",
"LWP3Device",
src/pybricks/iodevices.py
+72 -58
View File
@@ -5,7 +5,7 @@
from __future__ import annotations
from typing import Dict, Tuple, Optional, overload, TYPE_CHECKING
from typing import Tuple, Optional, overload, TYPE_CHECKING
from . import _common
from .parameters import Port as _Port
@@ -25,13 +25,21 @@ class PUPDevice:
port (Port): Port to which the device is connected.
"""
def info(self) -> Dict[str, str]:
def info(self) -> dict:
"""info() -> Dict
Gets information about the device.
For passive devices (such as DC motors or lights), returns a
dictionary with only the ``id`` key.
For UART devices, returns a dictionary with an ``id`` key and a
``modes`` key. The ``modes`` value is a tuple of tuples, one per
mode, each containing the mode name, number of values, and data
type.
Returns:
Dictionary with information, such as the device ``id``.
Dictionary with device information.
"""
def read(self, mode: int) -> MaybeAwaitableTuple:
@@ -39,81 +47,72 @@ class PUPDevice:
Reads values from a given mode.
For passive touch sensors, this returns a single boolean value
indicating whether the sensor is pressed, regardless of the
``mode`` argument.
Raises an error for other passive devices such as DC motors and
lights, which do not support reading.
Arguments:
mode (int): Device mode.
Returns:
Values read from the sensor.
Values read from the device.
Raises:
OSError: If the device is a passive device that does not
support reading (e.g. a DC motor or light).
"""
def write(self, mode: int, data: Tuple) -> MaybeAwaitable:
"""write(mode, data)
Writes values to the sensor. Only selected sensors and modes support
this.
Writes values to the device. Only selected UART devices and modes
support this.
Arguments:
mode (int): Device mode.
data (tuple): Values to be written.
data (tuple): Values to be written. The number of values and
their types must match what the device expects for the
given mode.
Raises:
OSError: If the device is a passive device that does not
support writing.
ValueError: If the mode is invalid, the mode is not writable,
the number of values does not match, or a value is out of
range for its data type.
"""
def reset(self) -> None:
"""reset()
Resets the UART device. After this, it should automatically synchronize
and be ready for use after a few seconds. This is useful to forcefully
re-trigger what such a sensor does when plugged in.
Raises:
OSError: If the device is a passive device that does not
support reset.
"""
class LUMPDevice:
"""Devices using the LEGO UART Messaging Protocol."""
class LUMPDevice(PUPDevice):
"""Devices using the LEGO UART Messaging Protocol.
def __init__(self, port: _Port):
"""LUMPDevice(port)
This is functionally equivalent to the PUPDevice class shown above, since
EV3 and Powered UP use the same UART protocol.
Arguments:
port (Port): Port to which the device is connected.
"""
def read(self, mode: int) -> MaybeAwaitableTuple:
"""read(mode) -> Tuple
Reads values from a given mode.
Arguments:
mode (int): Device mode.
Returns:
Values read from the sensor.
"""
On EV3, this class provides access to UART devices only. You can use other
classes to interact with passive devices.
"""
class DCMotor(_common.DCMotor):
"""DC Motor for LEGO® MINDSTORMS EV3."""
class Ev3devSensor:
"""Read values of an ev3dev-compatible sensor."""
sensor_index: int
"""Index of the ev3dev sysfs `lego-sensor`_ class."""
port_index: int
"""Index of the ev3dev sysfs `lego-port`_ class."""
def __init__(self, port: _Port):
"""Ev3devSensor(port)
Arguments:
port (Port): Port to which the device is connected.
"""
def read(self, mode: str) -> MaybeAwaitableTuple:
"""read(mode) -> Tuple
Reads values at a given mode.
Arguments:
mode (str): `Mode name`_.
Returns:
values read from the sensor.
"""
class AnalogSensor:
"""Generic or custom analog sensor."""
@@ -175,7 +174,14 @@ class AnalogSensor:
class I2CDevice:
"""Generic or custom I2C device."""
def __init__(self, port: _Port, address: int, custom: bool = False, powered: bool = False, nxt_quirk: bool = False):
def __init__(
self,
port: _Port,
address: int,
custom: bool = False,
powered: bool = False,
nxt_quirk: bool = False,
):
"""I2CDevice(port, address, custom=False, powered=False, nxt_quirk=False)
Arguments:
@@ -218,7 +224,9 @@ class I2CDevice:
class UARTDevice:
"""Generic UART device."""
def __init__(self, port: _Port, baudrate: int = 115200, timeout: Optional[int] = None):
def __init__(
self, port: _Port, baudrate: int = 115200, timeout: Optional[int] = None
):
"""UARTDevice(port, baudrate=115200, timeout=None)
Arguments:
@@ -394,7 +402,13 @@ class XboxController:
buttons = _common.Keypad([])
def __init__(self, joystick_deadzone: int = 10, name: Optional[str] = None, timeout: int = 10000, connect: bool = True):
def __init__(
self,
joystick_deadzone: int = 10,
name: Optional[str] = None,
timeout: int = 10000,
connect: bool = True,
):
"""__init__(joystick_deadzone=10, name=None, timeout=10000, connect=True)
Arguments: