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jedi: add new pybricks_jedi package

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This package will be used in Pybricks Code to provide some intellesense
operations.
This commit is contained in:
David Lechner
2022-06-24 14:52:45 -05:00
parent 6d0de1effa
commit a2d9c33eb5
27 changed files with 2211 additions and 208 deletions
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src/pybricks/_common.py
+13 -6
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@@ -4,16 +4,23 @@
"""Generic cross-platform module for typical devices like lights, displays,
speakers, and batteries."""
from typing import Union, Iterable, overload, Optional, Tuple, Collection
from __future__ import annotations
from typing import Union, Iterable, overload, Optional, Tuple, Collection, TYPE_CHECKING
from .geometry import Matrix, Axis
from .parameters import Direction, Stop, Button, Port, Color, Side, Number
from .parameters import Direction, Stop, Button, Port, Color, Side
if TYPE_CHECKING:
from .parameters import Number
class System:
"""System control actions for a hub."""
def set_stop_button(self, button: Union[Button, Iterable[Button]]) -> None:
def set_stop_button(
self, button: Optional[Union[Button, Iterable[Button]]]
) -> None:
"""
set_stop_button(button)
@@ -62,7 +69,7 @@ class System:
"""
class CommonDCMotor:
class DCMotor:
"""Generic class to control simple motors without rotation sensors, such
as train motors."""
@@ -289,7 +296,7 @@ class Control:
"""
class CommonMotor(CommonDCMotor):
class Motor(DCMotor):
"""Generic class to control motors with built-in rotation sensors."""
control = Control()
@@ -897,7 +904,7 @@ class IMU(Accelerometer):
"""
def reset_heading(self, angle: Number) -> None:
"""reset_heading(angle: Number)
"""reset_heading(angle)
Resets the accumulated heading angle of the robot.
src/pybricks/ev3devices.py
+18 -11
View File
@@ -5,18 +5,23 @@
from typing import Optional, Tuple, List
from ._common import CommonMotor
from .parameters import Direction, Port, Color, Button
from . import _common
from .parameters import (
Button as _Button,
Color as _Color,
Direction as _Direction,
Port as _Port,
)
class Motor(CommonMotor):
class Motor(_common.Motor):
"""LEGO® MINDSTORMS® EV3 Motor."""
class TouchSensor:
"""LEGO® MINDSTORMS® EV3 Touch Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""TouchSensor(port)
Arguments:
@@ -37,14 +42,14 @@ class TouchSensor:
class ColorSensor:
"""LEGO® MINDSTORMS® EV3 Color Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""ColorSensor(port)
Arguments:
port (Port): Port to which the sensor is connected.
"""
def color(self) -> Optional[Color]:
def color(self) -> Optional[_Color]:
"""color() -> Color
Measures the color of a surface.
@@ -92,7 +97,7 @@ class ColorSensor:
class InfraredSensor:
"""LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""InfraredSensor(port)
Arguments:
@@ -129,7 +134,7 @@ class InfraredSensor:
a tuple of (``None``, ``None``) if no remote is detected.
"""
def buttons(self, channel: int) -> List[Button]:
def buttons(self, channel: int) -> List[_Button]:
"""buttons(channel) -> List[Button]
Checks which buttons on the infrared remote are pressed.
@@ -145,7 +150,7 @@ class InfraredSensor:
"""
def keypad(self) -> List[Button]:
def keypad(self) -> List[_Button]:
"""keypad() -> List[Button]
Checks which buttons on the infrared remote are pressed.
@@ -163,7 +168,9 @@ class InfraredSensor:
class GyroSensor:
"""LEGO® MINDSTORMS® EV3 Gyro Sensor."""
def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE):
def __init__(
self, port: _Port, positive_direction: _Direction = _Direction.CLOCKWISE
):
"""GyroSensor(port)
Arguments:
@@ -207,7 +214,7 @@ class GyroSensor:
class UltrasonicSensor:
"""LEGO® MINDSTORMS® EV3 Ultrasonic Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""UltrasonicSensor(port)
Arguments:
src/pybricks/hubs.py
+47 -57
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@@ -2,21 +2,11 @@
# Copyright (c) 2018-2020 The Pybricks Authors
"""LEGO® Programmable Hubs."""
from ._common import (
Speaker,
Battery,
ColorLight,
Keypad,
LightMatrix,
IMU,
Charger,
System,
SimpleAccelerometer,
)
from .ev3dev._speaker import Speaker as EV3Speaker
from .geometry import Axis
from .media.ev3dev import Image
from .parameters import Button
from . import _common
from .ev3dev import _speaker
from .geometry import Axis as _Axis
from .media.ev3dev import Image as _Image
from .parameters import Button as _Button
class EV3Brick:
@@ -24,19 +14,19 @@ class EV3Brick:
# These class attributes are here for auto-documentation only.
# In reality, they are instance attributes created by __init__.
buttons = Keypad(
(
Button.LEFT,
Button.RIGHT,
Button.CENTER,
Button.UP,
Button.DOWN,
)
buttons = _common.Keypad(
[
_Button.LEFT,
_Button.RIGHT,
_Button.CENTER,
_Button.UP,
_Button.DOWN,
]
)
screen = Image("_screen_")
speaker = EV3Speaker()
battery = Battery()
light = ColorLight()
screen = _Image("_screen_")
speaker = _speaker.Speaker()
battery = _common.Battery()
light = _common.ColorLight()
class MoveHub:
@@ -44,11 +34,11 @@ class MoveHub:
# These class attributes are here for auto-documentation only.
# In reality, they are instance attributes created by __init__.
battery = Battery()
light = ColorLight()
imu = SimpleAccelerometer()
system = System()
button = Keypad((Button.CENTER,))
battery = _common.Battery()
light = _common.ColorLight()
imu = _common.SimpleAccelerometer()
system = _common.System()
button = _common.Keypad([_Button.CENTER])
class CityHub:
@@ -56,10 +46,10 @@ class CityHub:
# These class attributes are here for auto-documentation only.
# In reality, they are instance attributes created by __init__.
battery = Battery()
light = ColorLight()
system = System()
button = Keypad((Button.CENTER,))
battery = _common.Battery()
light = _common.ColorLight()
system = _common.System()
button = _common.Keypad([_Button.CENTER])
class TechnicHub:
@@ -67,13 +57,13 @@ class TechnicHub:
# These class attributes are here for auto-documentation only.
# In reality, they are instance attributes created by __init__.
battery = Battery()
light = ColorLight()
imu = IMU()
system = System()
button = Keypad((Button.CENTER,))
battery = _common.Battery()
light = _common.ColorLight()
imu = _common.IMU()
system = _common.System()
button = _common.Keypad([_Button.CENTER])
def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
def __init__(self, top_side: _Axis = _Axis.Z, front_side: _Axis = _Axis.X):
"""TechnicHub(top_side=Axis.Z, front_side=Axis.X)
Initializes the hub. Optionally, specify how the hub is
@@ -94,23 +84,23 @@ class PrimeHub:
# These class attributes are here for auto-documentation only.
# In reality, they are instance attributes created by __init__.
battery = Battery()
buttons = Keypad(
(
Button.LEFT,
Button.RIGHT,
Button.CENTER,
Button.BLUETOOTH,
)
battery = _common.Battery()
buttons = _common.Keypad(
[
_Button.LEFT,
_Button.RIGHT,
_Button.CENTER,
_Button.BLUETOOTH,
]
)
charger = Charger()
light = ColorLight()
display = LightMatrix(5, 5)
speaker = Speaker()
imu = IMU()
system = System()
charger = _common.Charger()
light = _common.ColorLight()
display = _common.LightMatrix(5, 5)
speaker = _common.Speaker()
imu = _common.IMU()
system = _common.System()
def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
def __init__(self, top_side: _Axis = _Axis.Z, front_side: _Axis = _Axis.X):
"""PrimeHub(top_side=Axis.Z, front_side=Axis.X)
Initializes the hub. Optionally, specify how the hub is
src/pybricks/iodevices.py
+9 -9
View File
@@ -5,14 +5,14 @@
from typing import Dict, Tuple, Optional, overload
from ._common import CommonDCMotor
from .parameters import Port
from . import _common
from .parameters import Port as _Port
class PUPDevice:
"""Powered Up motor or sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""PUPDevice(port)
Arguments:
@@ -55,7 +55,7 @@ class PUPDevice:
class LUMPDevice:
"""Devices using the LEGO UART Messaging Protocol."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""LUMPDevice(port)
Arguments:
@@ -75,7 +75,7 @@ class LUMPDevice:
"""
class DCMotor(CommonDCMotor):
class DCMotor(_common.DCMotor):
"""DC Motor for LEGO® MINDSTORMS EV3."""
@@ -88,7 +88,7 @@ class Ev3devSensor:
port_index: int
"""Index of the ev3dev sysfs `lego-port`_ class."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""Ev3devSensor(port)
Arguments:
@@ -111,7 +111,7 @@ class Ev3devSensor:
class AnalogSensor:
"""Generic or custom analog sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""AnalogSensor(port)
Arguments:
@@ -167,7 +167,7 @@ class AnalogSensor:
class I2CDevice:
"""Generic or custom I2C device."""
def __init__(self, port: Port, address: int):
def __init__(self, port: _Port, address: int):
"""I2CDevice(port, address)
Arguments:
@@ -205,7 +205,7 @@ class I2CDevice:
class UARTDevice:
"""Generic UART device."""
def __init__(self, port: Port, baudrate: int, timeout: Optional[int] = None):
def __init__(self, port: _Port, baudrate: int, timeout: Optional[int] = None):
"""UARTDevice(port, baudrate, timeout=None)
Arguments:
src/pybricks/parameters.py
+60 -39
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@@ -6,12 +6,33 @@
from __future__ import annotations
from enum import Enum
from typing import Union
from typing import Union, TYPE_CHECKING
import os
from .geometry import Matrix as _Matrix
from .geometry import Matrix
if TYPE_CHECKING or os.environ["SPHINX_BUILD"] == "True":
Number = Union[int, float]
"""
Numbers can be represented as integers or floating point values:
Number = Union[int, float]
* Integers (:class:`int <ubuiltins.int>`) are whole numbers
like ``15`` or ``-123``.
* Floating point values (:class:`float <ubuiltins.float>`) are decimal
numbers like ``3.14`` or ``-123.45``.
If you see :class:`Number` as the argument type, both
:class:`int <ubuiltins.int>` and :class:`float <ubuiltins.float>` may be used.
For example, :func:`wait(15) <pybricks.tools.wait>` and
:func:`wait(15.75) <pybricks.tools.wait>` are both allowed. In most functions,
however, your input value will be truncated to a whole number anyway. In this
example, either command makes the program pause for just 15 milliseconds.
.. warning::
The BOOST Move hub doesn't support floating point numbers due to
limited system resources, so only integers can be used on that hub.
"""
class _PybricksEnumMeta(type(Enum)):
@@ -163,39 +184,39 @@ class Side(_PybricksEnum):
class Icon:
UP: Matrix
DOWN: Matrix
LEFT: Matrix
RIGHT: Matrix
ARROW_RIGHT_UP: Matrix
ARROW_RIGHT_DOWN: Matrix
ARROW_LEFT_UP: Matrix
ARROW_LEFT_DOWN: Matrix
ARROW_UP: Matrix
ARROW_DOWN: Matrix
ARROW_LEFT: Matrix
ARROW_RIGHT: Matrix
HAPPY: Matrix
SAD: Matrix
EYE_LEFT: Matrix
EYE_RIGHT: Matrix
EYE_LEFT_BLINK: Matrix
EYE_RIGHT_BLINK: Matrix
EYE_RIGHT_BROW: Matrix
EYE_LEFT_BROW: Matrix
EYE_LEFT_BROW_UP: Matrix
EYE_RIGHT_BROW_UP: Matrix
HEART: Matrix
PAUSE: Matrix
EMPTY: Matrix
FULL: Matrix
SQUARE: Matrix
TRIANGLE_RIGHT: Matrix
TRIANGLE_LEFT: Matrix
TRIANGLE_UP: Matrix
TRIANGLE_DOWN: Matrix
CIRCLE: Matrix
CLOCKWISE: Matrix
COUNTERCLOCKWISE: Matrix
TRUE: Matrix
FALSE: Matrix
UP: _Matrix
DOWN: _Matrix
LEFT: _Matrix
RIGHT: _Matrix
ARROW_RIGHT_UP: _Matrix
ARROW_RIGHT_DOWN: _Matrix
ARROW_LEFT_UP: _Matrix
ARROW_LEFT_DOWN: _Matrix
ARROW_UP: _Matrix
ARROW_DOWN: _Matrix
ARROW_LEFT: _Matrix
ARROW_RIGHT: _Matrix
HAPPY: _Matrix
SAD: _Matrix
EYE_LEFT: _Matrix
EYE_RIGHT: _Matrix
EYE_LEFT_BLINK: _Matrix
EYE_RIGHT_BLINK: _Matrix
EYE_RIGHT_BROW: _Matrix
EYE_LEFT_BROW: _Matrix
EYE_LEFT_BROW_UP: _Matrix
EYE_RIGHT_BROW_UP: _Matrix
HEART: _Matrix
PAUSE: _Matrix
EMPTY: _Matrix
FULL: _Matrix
SQUARE: _Matrix
TRIANGLE_RIGHT: _Matrix
TRIANGLE_LEFT: _Matrix
TRIANGLE_UP: _Matrix
TRIANGLE_DOWN: _Matrix
CIRCLE: _Matrix
CLOCKWISE: _Matrix
COUNTERCLOCKWISE: _Matrix
TRUE: _Matrix
FALSE: _Matrix
src/pybricks/pupdevices.py
+40 -38
View File
@@ -3,25 +3,27 @@
"""LEGO® Powered Up motor, sensors, and lights."""
from typing import Collection, Optional, Union, overload, Tuple
from __future__ import annotations
from ._common import (
AmbientColorSensor,
ColorLight,
CommonColorSensor,
CommonDCMotor,
CommonMotor,
Keypad,
LightArray,
from typing import TYPE_CHECKING, Collection, Optional, Union, overload, Tuple
from . import _common
from .parameters import (
Button as _Button,
Color as _Color,
Direction as _Direction,
Port as _Port,
)
from .parameters import Button, Color, Direction, Port
if TYPE_CHECKING:
from .parameters import Number as _Number
class DCMotor(CommonDCMotor):
class DCMotor(_common.DCMotor):
"""LEGO® Powered Up motor without rotation sensors."""
class Motor(CommonMotor):
class Motor(_common.Motor):
"""LEGO® Powered Up motor with rotation sensors."""
def reset_angle(self, angle: Optional[int]) -> None:
@@ -40,21 +42,21 @@ class Motor(CommonMotor):
class Remote:
"""LEGO® Powered Up Bluetooth Remote Control."""
light = ColorLight()
buttons = Keypad(
light = _common.ColorLight()
buttons = _common.Keypad(
(
Button.LEFT_MINUS,
Button.RIGHT_MINUS,
Button.LEFT,
Button.CENTER,
Button.RIGHT,
Button.LEFT_PLUS,
Button.RIGHT_PLUS,
_Button.LEFT_MINUS,
_Button.RIGHT_MINUS,
_Button.LEFT,
_Button.CENTER,
_Button.RIGHT,
_Button.LEFT_PLUS,
_Button.RIGHT_PLUS,
)
)
addresss: Union[str, None]
def __init__(self, name: str = None, timeout: int = 10000):
def __init__(self, name: Optional[str] = None, timeout: int = 10000):
"""Remote(name=None, timeout=10000)
When you instantiate this class, the hub will search for a remote
@@ -92,7 +94,7 @@ class Remote:
class TiltSensor:
"""LEGO® Powered Up Tilt Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""TiltSensor(port)
Arguments:
@@ -109,10 +111,10 @@ class TiltSensor:
"""
class ColorDistanceSensor(CommonColorSensor):
class ColorDistanceSensor(_common.CommonColorSensor):
"""LEGO® Powered Up Color and Distance Sensor."""
light = ColorLight()
light = _common.ColorLight()
def distance(self) -> int:
"""distance() -> int: %
@@ -133,8 +135,8 @@ class PFMotor(DCMotor):
self,
sensor: ColorDistanceSensor,
channel: int,
color: Color,
positive_direction: Direction = Direction.CLOCKWISE,
color: _Color,
positive_direction: _Direction = _Direction.CLOCKWISE,
):
"""PFMotor(sensor, channel, color, positive_direction=Direction.CLOCKWISE)
@@ -152,18 +154,18 @@ class PFMotor(DCMotor):
"""
class ColorSensor(AmbientColorSensor):
class ColorSensor(_common.AmbientColorSensor):
"""LEGO® SPIKE Color Sensor."""
lights = LightArray(3)
lights = _common.LightArray(3)
class UltrasonicSensor:
"""LEGO® SPIKE Color Sensor."""
lights = LightArray(3)
lights = _common.LightArray(3)
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""UltrasonicSensor(port)
Arguments:
@@ -197,7 +199,7 @@ class UltrasonicSensor:
class ForceSensor:
"""LEGO® SPIKE Force Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""ForceSensor(port)
Arguments:
@@ -222,7 +224,7 @@ class ForceSensor:
Movement up to approximately 8.00 mm.
"""
def pressed(self, force=3) -> bool:
def pressed(self, force: _Number = 3) -> bool:
"""pressed(force=3) -> bool
Checks if the sensor button is pressed.
@@ -253,7 +255,7 @@ class ColorLightMatrix:
LEGO® SPIKE 3x3 Color Light Matrix.
"""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""ColorLightMatrix(port)
Arguments:
@@ -262,7 +264,7 @@ class ColorLightMatrix:
"""
...
def on(self, color: Union[Color, Collection[Color]]) -> None:
def on(self, color: Union[_Color, Collection[_Color]]) -> None:
"""on(colors)
Turns the lights on.
@@ -286,7 +288,7 @@ class ColorLightMatrix:
class InfraredSensor:
"""LEGO® Powered Up Infrared Sensor."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""InfraredSensor(port)
Arguments:
@@ -326,14 +328,14 @@ class InfraredSensor:
class Light:
"""LEGO® Powered Up Light."""
def __init__(self, port: Port):
def __init__(self, port: _Port):
"""Light(port)
Arguments:
port (Port): Port to which the device is connected.
"""
def on(self, brightness: int = 100) -> None:
def on(self, brightness: _Number = 100) -> None:
"""on(brightness=100)
Turns on the light at the specified brightness.
src/pybricks/robotics.py
+24 -17
View File
@@ -3,10 +3,15 @@
"""Robotics module for the Pybricks API."""
from typing import Tuple, Optional, overload
from __future__ import annotations
from ._common import Control, CommonMotor as Motor
from .parameters import Stop, Number
from typing import Tuple, Optional, overload, TYPE_CHECKING
from . import _common
from .parameters import Stop as _Stop
if TYPE_CHECKING:
from .parameters import Number as _Number
class DriveBase:
@@ -26,7 +31,7 @@ class DriveBase:
"""
distance_control = Control()
distance_control = _common.Control()
"""The traveled distance and drive speed are controlled by a PID
controller. You can use this attribute to change its settings.
See the :ref:`motor control <settings>` attribute for an overview of
@@ -34,7 +39,7 @@ class DriveBase:
functionality, but the settings apply to every millimeter driven by the
drive base, instead of degrees turned by one motor."""
heading_control = Control()
heading_control = _common.Control()
"""The robot turn angle and turn rate are controlled by a PID
controller. You can use this attribute to change its settings.
See the :ref:`motor control <settings>` attribute for an overview of
@@ -45,10 +50,10 @@ class DriveBase:
def __init__(
self,
left_motor: Motor,
right_motor: Motor,
wheel_diameter: Number,
axle_track: Number,
left_motor: _common.Motor,
right_motor: _common.Motor,
wheel_diameter: _Number,
axle_track: _Number,
):
"""DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
@@ -62,7 +67,7 @@ class DriveBase:
both wheels touch the ground.
"""
def drive(self, speed: Number, turn_rate: Number) -> None:
def drive(self, speed: _Number, turn_rate: _Number) -> None:
"""drive(speed, turn_rate)
Starts driving at the specified speed and turn rate. Both values are
@@ -113,10 +118,10 @@ class DriveBase:
@overload
def settings(
self,
straight_speed: Optional[Number],
straight_acceleration: Optional[Number],
turn_rate: Optional[Number],
turn_acceleration: Optional[Number],
straight_speed: Optional[_Number],
straight_acceleration: Optional[_Number],
turn_rate: Optional[_Number],
turn_acceleration: Optional[_Number],
) -> None:
...
@@ -142,7 +147,7 @@ class DriveBase:
deceleration of the robot.
"""
def straight(self, distance, then=Stop.HOLD, wait=True) -> None:
def straight(self, distance: _Number, then=_Stop.HOLD, wait=True) -> None:
"""straight(distance, then=Stop.HOLD, wait=True)
Drives straight for a given distance and then stops.
@@ -154,7 +159,7 @@ class DriveBase:
with the rest of the program.
"""
def turn(self, angle, then=Stop.HOLD, wait=True) -> None:
def turn(self, angle: _Number, then=_Stop.HOLD, wait=True) -> None:
"""turn(angle, then=Stop.HOLD, wait=True)
Turns in place by a given angle and then stops.
@@ -166,7 +171,9 @@ class DriveBase:
with the rest of the program.
"""
def curve(self, radius, angle, then=Stop.HOLD, wait=True) -> None:
def curve(
self, radius: _Number, angle: _Number, then=_Stop.HOLD, wait=True
) -> None:
"""curve(radius, angle, then=Stop.HOLD, wait=True)
Drives an arc along a circle of a given radius, by a given angle.
src/urandom/__init__.py
-8
View File
@@ -25,14 +25,6 @@ This module implements pseudo-random number generators.
from typing import Any, Optional, Sequence, overload
[
"random",
"uniform",
]
# bookkeeping
def seed(a: Optional[int] = None) -> None:
"""
Initialize the random number generator.
src/usys/__init__.py
+4 -4
View File
@@ -9,11 +9,11 @@
This module provides a subset of the standard Python ``sys`` module.
"""
from uio import FileIO
from uio import FileIO as _FileIO
# REVISIT: most functions are excluded since they aren't useful for Pybricks
stdin: FileIO = FileIO()
stdin: _FileIO = _FileIO()
"""
Stream object (:class:`uio.FileIO`) that receives input from a connected
terminal, if any.
@@ -25,7 +25,7 @@ Also see :func:`micropython.kbd_intr` to disable ``KeyboardInterrupt`` if you
are passing binary data via ``stdin``.
"""
stdout: FileIO = FileIO()
stdout: _FileIO = _FileIO()
"""
Stream object (:class:`uio.FileIO`) that sends output to a connected terminal,
if any.
@@ -34,7 +34,7 @@ Reading may modify newline characters. Use ``usys.stdout.buffer`` instead if
this is undesirable.
"""
stderr: FileIO = FileIO()
stderr: _FileIO = _FileIO()
"""
Alias for :data:`stdout`.
"""