v3.1.0

This method was added in 30803fc.

.github/workflows/build.yml

@@ -3,28 +3,24 @@
 
 name: Build Python package and docs
 
-on: 
-  push:
-    tags-ignore:
-      - '**'
-  pull_request:
-    paths:
-      - doc/**
-      - src/**
-      - poetry.lock
-      - poetry.toml
-      - pyproject.toml
-      - setup.cfg
-
+on: [ push, pull_request ]
 
 jobs:
   build:
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        python-version: [3.8, 3.9]
+
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v1
+      with:
+        python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
         pip install poetry
@@ -39,7 +35,7 @@ jobs:
       run: poetry run doc8
     - name: Build html docs for Read the Docs
       run: poetry run make -C doc html
-    - name: Install IDE docs dependencies
+    - name: Instal IDE docs dependencies
       run: |
         sudo apt-get update
         sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra

.github/workflows/jedi.yml

@@ -1,30 +0,0 @@
-name: pybricks_jedi
-
-on: [push, pull_request]
-
-jobs:
-  test:
-    if: github.ref_type != 'tag'
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    - run: pipx install poetry
-    - run: poetry install
-      working-directory: ./jedi
-    - run: poetry run pytest -vv
-      working-directory: ./jedi
-
-  publish:
-    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'pybricks_jedi/')
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    - run: pipx install poetry
-    - run: poetry install
-      working-directory: ./jedi
-    - run: poetry build
-      working-directory: ./jedi
-    - run: poetry publish
-      working-directory: ./jedi
-      env:
-        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_PYBRICKS_JEDI_TOKEN }}

.github/workflows/publish-ide-docs.yml

@@ -7,17 +7,17 @@ on:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
     - name: Ubuntu packages
       run: |
         sudo apt-get update
         sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
     - name: Set up Python 3.8
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v1
       with:
         python-version: 3.8
     - name: Install dependencies
@@ -25,8 +25,8 @@ jobs:
         pip install poetry
         poetry run python -m pip install --upgrade pip
         poetry run python -m pip install --upgrade setuptools
-        poetry install --only=doc
-    - uses: actions/setup-node@v3
+        poetry install
+    - uses: actions/setup-node@v1
       with:
         node-version: '14.x'
         registry-url: 'https://registry.npmjs.org'

.github/workflows/publish-images.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/images
-
-on:
-  push:
-    tags: 
-    - '@pybricks/images/**'
-
-jobs:
-  publish_ide_docs:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    # Setup .npmrc file to publish to npm
-    - uses: actions/setup-node@v3
-      with:
-        node-version: '16.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py
-      working-directory: npm/images
-    - run: yarn publish
-      working-directory: npm/images/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-jedi.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/jedi
-
-on:
-  push:
-    tags: 
-    - '@pybricks/jedi/**'
-
-jobs:
-  publish_jedi:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    # Setup .npmrc file to publish to npm
-    - uses: actions/setup-node@v3
-      with:
-        node-version: '16.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py
-      working-directory: npm/jedi
-    - run: yarn publish
-      working-directory: npm/jedi/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/release-to-pypi.yml

@@ -6,10 +6,17 @@ on:
 
 jobs:
   build_and_publish:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
-    - run: pipx run poetry build
-    - run: pipx run poetry publish
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - uses: abatilo/actions-poetry@v2.0.0
+      with:
+        poetry-version: 1.1.6
+    - run: poetry install
+    - run: poetry build
+    - run: poetry publish
       env:
         POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}

.gitignore

@@ -26,9 +26,8 @@ build/
 build-*/
 _build/
 
-# Tests
+# Test failure outputs
 ######################
-.pytest_cache/
 tests/*.exp
 tests/*.out
 
@@ -58,10 +57,3 @@ genrst/
 # Virtual environment
 ######################
 .venv/
-.python-version
-
-# Generated LDRAW output
-######################
-stderr-ldview
-stdout-ldview
-LPub3D/

.readthedocs.yaml

@@ -0,0 +1,22 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+#
+# Settings in the readthedocs online dashboard will be ignored.
+
+# Required
+version: 2
+
+# Build documentation in the doc/main directory with Sphinx
+sphinx:
+   configuration: doc/main/conf.py
+
+# Build your docs in additional formats such as PDF
+formats:
+   - pdf
+
+# Set the version of Python and requirements required to build the docs
+python:
+   version: 3.8
+   install:
+   - requirements: rtd-requirements.txt

.readthedocs.yml

@@ -1,25 +0,0 @@
-# .readthedocs.yaml
-# Read the Docs configuration file
-# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
-
-# Required
-version: 2
-
-build:
-  os: "ubuntu-22.04"
-  tools:
-    python: "3.10"
-  jobs:
-    post_create_environment:
-      - pip install poetry
-      - poetry config virtualenvs.create false
-    post_install:
-      - poetry install --only=doc
-
-# Build documentation in the doc/main/ directory with Sphinx
-sphinx:
-  configuration: doc/main/conf.py
-
-# Optionally build your docs in additional formats such as PDF
-formats:
-   - pdf

.vscode/extensions.json

@@ -4,8 +4,7 @@
 
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
-		"ms-python.python",
-		"ms-python.black-formatter"
+		"ms-python.python"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [

.vscode/settings.json

@@ -1,24 +1,10 @@
 {
-    "files.exclude": {
-      "**/__pycache__": true,
-    },
-    "python.defaultInterpreterPath": ".venv/bin/python",
-    "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "none",
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
+    "python.pythonPath": "${workspaceFolder}/.venv",
+    "python.formatting.provider": "black",
     "python.linting.pycodestyleEnabled": false,
+    "python.linting.flake8Enabled": true,
     "python.linting.enabled": true,
-    "[python]": {
-        "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.black-formatter"
-    },
     "python.languageServer": "Pylance",
-    "python.testing.pytestArgs": [
-        "jedi/tests"
-    ],
-    "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
     "restructuredtext.confPath": "${workspaceFolder}/doc/main",
     "spellright.language": [
@@ -48,12 +34,5 @@
         "plaintext",
         "python",
         "restructuredtext",
-    ],
-    "rewrap.wrappingColumn": 78,
-    "python.analysis.extraPaths": [
-        "jedi/src"
-    ],
-    "yaml.schemas": {
-        "https://json.schemastore.org/github-workflow.json": "file:///home/david/work/pybricks/pybricks-api/.github/workflows/build.yml"
-    },
+    ]
 }

.vscode/spellright.dict

@@ -78,4 +78,3 @@ thermistor
 toctree
 TODO
 UART
-utf-8

CHANGELOG.md

@@ -2,134 +2,6 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
-## Unreleased
-
-## 3.4.0b1 - 2023-11-28
-
-### Changed
-- Include first batch of block coding images.
-
-## 3.3.0 - 2023-11-24
-
-### Changed
-- Bump beta version to release version with no further changes.
-
-## 3.3.0c1 - 2023-11-20
-
-## Added
-- Enabled tilt and orientation config for `MoveHub()`.
-- Documented `Motor.close()`
-
-## Fixed
-- Fixed missing awaitable for `Remote.light` and LWP3 writes.
-
-## 3.3.0b9 - 2023-10-26
-
-### Changed
-- Changed the beta feature for using the hub's gyro. Gyro control can now be
-  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
-- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
-
-## Added
-- Added `set` to `ubuiltins` module.
-- Basic multitasking docs.
-- Awaitable keyword for awaitable methods and functions.
-
-## 3.3.0b5 - 2023-05-16
-
-### Added
-- Documented new `hub.ble` methods.
-
-## 3.3.0b4 - 2023-04-21
-
-### Added
-- Documented `integral_deadzone` in `Control.pid()`.
-- Documented `Motor.model`. This can be used to view the estimated motor
-  state and change its settings.
-- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
-  to `IMU` class.
-- Added `GyroDriveBase` class to `pybricks.robotics`.
-
-### Changed
-- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
-  are now implemented, with some limitations as noted in a note box.
-- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
-- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
-
-### Removed
-- Removed `pybricks.geometry` module.
-
-## 3.2.0 - 2022-12-20
-
-### Changed
-- Changed module TOC headings to make it easier to find things.
-
-## 3.2.0c1 - 2022-12-09
-
-### Changed
-- Updated "front" side of the Technic Hub to be consistent with
-  the Prime Hub.
-
-## 3.2.0b6 - 2022-12-02
-
-### Added
-- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
-- Documented ``ujson`` module.
-- Added `done` and `stalled` methods for `DriveBase`.
-
-### Changed
-- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
-  its kwarg from `image` to `icon`.
-- Improved presentation and docstrings of the ``ubuiltins`` and other
-  MicroPython modules
-- Moved the random numbers example for Move Hub to the Move Hub page.
-- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
-
-## 3.2.0b5 - 2022-11-11
-
-### Fixed
-- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
-
-## 3.2.0b4 - 2022-10-21
-
-### Added
-- Code auto-completion for `EssentialHub`.
-- Added `System.storage` method.
-
-### Fixed
-- Fixed some type hints in `parameters` submodule.
-
-## 3.2.0b1-r3 - 2022-06-26
-
-### Fixed
-- Fixed more type hints and improved compatibility with jedi.
-
-## 3.2.0b1-r2 - 2022-06-24
-
-### Changed
-- Moved remaining type hints from `.pyi` files to the python stub modules, and
-  fixed numerous errors in the type hints throughout.
-
-## 3.2.0b1-r1 - 2022-06-09
-
-## Added
-- Added `__init__.py` to `pybricks` package.
-
-## 3.2.0b1 - 2022-06-02
-
-### Added
-- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
-- Moved typing from several `.pyi` files to the actual python modules.
-
-### Fixed
-- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
-- Fixed missing `DCMotor` type in `ev3devices`.
-- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
-
-### Changed
-- Setter for acceleration can now also be used to set acceleration and
-  deceleration to different values, using a two-valued tuple.
-
 ## 3.1.0 - 2021-12-16
 
 ### Added

CONTRIBUTING.md

@@ -32,91 +32,14 @@ will actually be implemented.
      - pybricks.tools.wait: Add example of waiting.
      - pybricks.pupdevices: Fix all sensor class ports.
      - umath.sin: Fix spelling of Hypotenuse.
-  - If an import path makes no sense, just use the file path without
-    extensions:
+  - If an import path makes no sense, just use the file path without extensions:
      - .vscode/settings: Fix file associations.
-- The subject briefly describes _what_ was changed. Use a short full sentence
-  as in the examples above.
+- The subject briefly describes _what_ was changed. Use a short full sentence as in the examples above.
 - The body describes _why_ the change was made, e.g. `The word "sensor" was
   spelled incorrectly`.
 
 [commits]: https://github.com/pybricks/pybricks-api/commits/master
 
-**General docstring principles:**
-
-The stubs libraries in this repository have two different purposes:
-1. Auto-generating documentation with Sphinx. For this purpose, the
-   documentation should be concise and clear.
-2. Provide autocomplete and intellisense in code editors. For this purpose,
-   the code needs to be 100% correct. This way, computers can parse your code
-   correctly and tell you when something is wrong.
-
-Since these objectives don't always align, we address these separately in the
-stubs library:
-
-1. The first line(s) of the docstring contain the function or method signature
-   as it should be displayed in the human-readable documentation.
-2. The real function signature can be as complex as it needs to be to make it
-   correct for intellisense. Overloads can be uses if needed.
-
-In the rare case where the docstring signature is the same as the typed
-version, we'll still include it for consistency.
-
-**Docstring details:**
-
-Make sure to look at existing function signatures and docstrings for
-inspiration when documenting new functionality. As an example, consider:
-
-```python
-def run_until_stalled(
-    self,
-    speed: Number,
-    then: Stop = Stop.COAST,
-    duty_limit: Optional[Number] = None,
-) -> int:
-    """
-    run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg
-
-    Runs the motor at a constant speed until it stalls.
-
-    Arguments:
-        speed (Number, deg/s): Speed of the motor.
-        then (Stop): What to do after coming to a standstill.
-        duty_limit (Number, %): Duty cycle limit during this
-            command. This is useful to avoid applying the full motor
-            torque to a geared or lever mechanism. If it is ``None``, the
-            duty limit won't be changed during this command.
-
-    Returns:
-        Angle at which the motor becomes stalled.
-    """
-```
-The real method signature at the top contains the full detail, including the
-type of each argument and return value.
-
-The docstring starts with the signature. Use more than one signature if needed
-to represent overloaded methods. The signatures are written in the way they
-should be displayed in the docs:
-- Argument types are omitted because they are also shown with the argument
-  description below.
-- Default values should be given (``then=Stop.COAST``).
-- The return type should be given (``-> int``). When applicable, include
-  the unit of the return value, so it becomes ``-> int: deg``
-
-Then follows a concise description of what this method, function, or class
-does.
-
-Then follows a list of arguments:
-- For each argument, include the expected type and unit if applicable, e.g.
-  ``(int)`` or ``(Number, deg/s)``.
-- Use ``Number`` when ``int`` and ``float`` are both allowed.
-- If the description is long, use the indentation shown above.
-- Make it readable. Instead
-  of ``Union[float, SupportsFloat, complex, SupportsComplex]``,
-  just say _float or complex_.
-
-Then follows a description of the return value. The type is omitted here since
-it is already include in the docstring signature.
 
 **Development environment:**
 
@@ -126,8 +49,8 @@ Prerequisites:
 - [Python 3][python]
 - [Poetry][poetry]
 
-Information on installing prerequisites can be found on the
-[pybricks-micropython contributor's guide][contributing].
+Information on installing prerequisites can be found on the [pybricks-micropython
+wiki][wiki].
 
 Initial setup:
 
@@ -167,4 +90,4 @@ Linting:
 [git]: https://git-scm.com/
 [python]: https://www.python.org/
 [poetry]: https://python-poetry.org/
-[contributing]: https://github.com/pybricks/pybricks-micropython/blob/master/CONTRIBUTING.md
+[wiki]: https://github.com/pybricks-micropython/wiki

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018-2022 The Pybricks Authors
+Copyright (c) 2018-2021 The Pybricks Authors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.rst

@@ -12,11 +12,6 @@ used to generate the `official documentation`_.
 See the `contributor's guide <CONTRIBUTING.md>`_ for acceptable changes and
 instructions to build the documentation locally.
 
-You can use the API stubs in this repository for syntax highlighting and code
-completion when programming the EV3 with VS Code. To enable, remove the
-``"python.languageServer"="None"`` line in the ``.vscode/settings.json`` file
-generated by the *LEGO® MINDSTORMS® EV3 MicroPython* extension.
-
 For general discussion, please visit the `support`_ issue tracker.
 
 .. _Pybricks package: pybricks

doc/Makefile

@@ -11,13 +11,13 @@ TAG           = main
 
 # Put it first so that "make" without argument is like "make help".
 help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
 
 .PHONY: help Makefile
 
 diagrams:
-	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source clean
-	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source
+	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source clean
+	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).

doc/common/_static/css/blocks.css

@@ -1,3 +0,0 @@
-.block-image {
-    margin-top: 10px;
-}

doc/common/_static/css/ide.css

@@ -40,11 +40,3 @@
 ::-webkit-scrollbar-thumb:hover {
     background: #182026;
 }
-
-html.writer-html5 .rst-content dl.citation,
-html.writer-html5 .rst-content dl.field-list,
-html.writer-html5 .rst-content dl.footnote {
-    display: flex;
-    flex-direction: column;
-    grid-template-columns: unset;
-}

doc/common/_static/css/theme_overrides.css

@@ -41,7 +41,3 @@ span.caption-number:after {
 .figure > a.reference.external::after {
     content: none !important;
 }
-
-.wy-side-nav-search > div.version {
-    color: hsla(0, 0%, 100%, 0.75);
-}

doc/common/conf.py

@@ -27,20 +27,21 @@ from docutils import nodes
 from docutils.parsers.rst.directives import flag
 from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
-from sphinx.addnodes import pending_xref
-from sphinx.environment import BuildEnvironment
-from sphinx.util.nodes import make_refnode
 import toml
 
-TOP_DIR = os.path.abspath(os.path.join("..", ".."))
-sys.path.insert(0, os.path.join(TOP_DIR, "src"))
-sys.path.append(os.path.abspath("../common/extensions"))
+TOP_DIR = os.path.abspath(os.path.join('..', '..'))
+sys.path.insert(0, os.path.join(TOP_DIR, 'src'))
+sys.path.append(os.path.abspath('../common/extensions'))
+
+from pybricks.hubs import EV3Brick  # noqa E402
+from pybricks.media.ev3dev import Image  # noqa E402
+from pybricks._common import Speaker  # noqa E402
 
 # ON_RTD is whether we are on readthedocs.org
 # this line of code grabbed from docs.readthedocs.org
-ON_RTD = os.environ.get("READTHEDOCS", None) == "True"
+ON_RTD = os.environ.get('READTHEDOCS', None) == 'True'
 
-_pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
+_pyproject = toml.load(os.path.join(TOP_DIR, 'pyproject.toml'))
 
 # -- General configuration ------------------------------------------------
 
@@ -52,30 +53,27 @@ _pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    "sphinx.ext.autodoc",
-    "sphinx.ext.napoleon",
-    "sphinx.ext.todo",
-    "sphinx.ext.mathjax",
-    # Custom Pybricks extensions
-    "blockimg",
-    "color",
-    "classlink",
-    "requirements",
-    "requirements-static",
-    "versionchanged",
+    'sphinx.ext.autodoc',
+    'sphinx.ext.napoleon',
+    'sphinx.ext.todo',
+    'sphinx.ext.mathjax',
+    'color',
+    'classlink',
+    'requirements',
+    'requirements-static',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ["../common/_templates"]
+templates_path = ['../common/_templates']
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
+source_suffix = '.rst'
 
 # The master toctree document.
-master_doc = "index"
+master_doc = 'index'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -84,17 +82,17 @@ master_doc = "index"
 # The full version, including alpha/beta/rc tags.
 release = "v" + _pyproject["tool"]["poetry"]["version"]
 # The short X.Y version.
-version = re.match(r"(v\d+\.\d+)", release)[0]
+version = re.match(r'(v\d+\.\d+)', release)[0]
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = "en"
+language = None
 
 # The name of the Pygments (syntax highlighting) style to use.
-pygments_style = "xcode"
+pygments_style = 'xcode'
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
@@ -102,10 +100,10 @@ todo_include_todos = True
 # Figure numbering
 numfig = True
 numfig_format = {
-    "figure": "Figure %s",
-    "table": "Table %s",
-    "code-block": "Listing %s",
-    "section": "Section %s",
+    'figure': 'Figure %s',
+    'table': 'Table %s',
+    'code-block': 'Listing %s',
+    'section': 'Section %s'
 }
 
 # Find cross-reference errors
@@ -113,46 +111,59 @@ nitpicky = True
 
 # https://stackoverflow.com/a/30624034/1976323
 nitpick_ignore = [
-    ("py:class", "bool"),
-    ("py:class", "bytearray"),
-    ("py:class", "bytes"),
-    ("py:class", "callable"),
-    ("py:class", "dict"),
-    ("py:class", "float"),
-    ("py:class", "int"),
-    ("py:class", "iter"),
-    ("py:class", "list"),
-    ("py:class", "object"),
-    ("py:class", "str"),
-    ("py:class", "tuple"),
-    ("py:exc", "OSError"),
-    ("py:exc", "RuntimeError"),
-    ("py:exc", "TypeError"),
-    ("py:exc", "ValueError"),
+    ('py:class', 'bool'),
+    ('py:class', 'bytearray'),
+    ('py:class', 'bytes'),
+    ('py:class', 'callable'),
+    ('py:class', 'dict'),
+    ('py:class', 'float'),
+    ('py:class', 'int'),
+    ('py:class', 'iter'),
+    ('py:class', 'list'),
+    ('py:class', 'object'),
+    ('py:class', 'str'),
+    ('py:class', 'tuple'),
+    ('py:exc', 'OSError'),
+    ('py:exc', 'RuntimeError'),
+    ('py:exc', 'TypeError'),
+    ('py:exc', 'ValueError'),
 ]
 
 # not sure why, but this is needed for typing.IO in uselect
-nitpick_ignore.append(("py:obj", "typing.IO"))
+nitpick_ignore.append(('py:class', 'IO'))
+
+# Workaround until change below is released.
+# https://github.com/sphinx-doc/sphinx/commit/86091934db5ec593b4b0c982b7f08f3231ef995b
+nitpick_ignore.extend([
+    ('py:class', '0'),
+    ('py:class', '1'),
+    ('py:class', '2'),
+    ('py:class', '3'),
+    ('py:class', 'big'),
+    ('py:class', 'little'),
+])
 
 # -- Autodoc options ------------------------------------------------------
 
-autodoc_member_order = "bysource"
+autodoc_member_order = 'bysource'
 autodoc_default_options = {
-    "members": True,
-    "undoc-members": True,
+    'members': True,
+    'undoc-members': True,
 }
-autoclass_content = "both"  # This ensures init arguments are not ignored
+autoclass_content = 'both'  # This ensures init arguments are not ignored
 add_module_names = False  # Hide module name
 
 # -- Options for HTML output ----------------------------------------------
 
-import sphinx_rtd_theme
-
-html_theme = "sphinx_rtd_theme"
-html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+if ON_RTD:
+    html_theme = 'default'
+else:
+    import sphinx_rtd_theme
+    html_theme = 'sphinx_rtd_theme'
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 html_context = {
-    "disclaimer": _DISCLAIMER,
+    'disclaimer': _DISCLAIMER,
 }
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
@@ -165,15 +176,14 @@ html_context = {
 # documentation.
 #
 html_theme_options = {
-    "style_external_links": True,
-    "logo_only": True,
-    "style_nav_header_background": "#0088ce",  # Pybricks blue
+   'style_external_links': True,
+   'logo_only': True,
 }
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ["../common/_static"]
+html_static_path = ['../common/_static']
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -181,9 +191,9 @@ html_static_path = ["../common/_static"]
 # This is required for the alabaster theme
 # refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
 html_sidebars = {
-    "**": [
-        "relations.html",  # needs 'show_related': True theme option to display
-        "searchbox.html",
+    '**': [
+        'relations.html',  # needs 'show_related': True theme option to display
+        'searchbox.html',
     ]
 }
 
@@ -193,7 +203,7 @@ html_scaled_image_link = False
 # -- Options for HTMLHelp output ------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = "Pybricksdoc"
+htmlhelp_basename = 'Pybricksdoc'
 
 
 # -- Options for LaTeX output ---------------------------------------------
@@ -202,12 +212,14 @@ latex_elements = {
     # The paper size ('letterpaper' or 'a4paper').
     #
     # 'papersize': 'letterpaper',
+
     # The font size ('10pt', '11pt' or '12pt').
     #
     # 'pointsize': '10pt',
+
     # Additional stuff for the LaTeX preamble.
     #
-    "preamble": r"""
+    'preamble': r'''
     \usepackage{CJKutf8}
     \makeatletter
     \fancypagestyle{normal}{
@@ -227,46 +239,54 @@ latex_elements = {
         \renewcommand{\footrulewidth}{0.4pt}
     }
     \makeatother
-    """
-    % {
-        "disclaimer": " ".join((_DISCLAIMER, "©", copyright)),
+    ''' % {
+        'disclaimer': ' '.join((_DISCLAIMER, '©', copyright)),
     },
+
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
-    "extraclassoptions": "openany,oneside",
-    "releasename": "Version",
+    'extraclassoptions': 'openany,oneside',
+
+    'releasename': 'Version',
 }
 
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, "".join([project, "-v", version, ".tex"]), _TITLE, author, "manual"),
+    (master_doc, ''.join([project, '-v', version, '.tex']), _TITLE,
+     author, 'manual'),
 ]
 
 # -- Content control -----------------------------------------------------
 
 
 exclude_patterns = [
-    "ev3devices.rst",
-    "hubs/ev3brick.rst",
-    "iodevices/analogsensor.rst",
-    "iodevices/dcmotor.rst",
-    "iodevices/ev3devsensor.rst",
-    "iodevices/i2cdevice.rst",
-    "iodevices/lumpdevice.rst",
-    "iodevices/uartdevice.rst",
-    "media.rst",
-    "messaging.rst",
-    "nxtdevices.rst",
-    "tools/datalog.rst",
+    'ev3devices.rst',
+    'hubs/ev3brick.rst',
+    'hubs/primehub.rst',
+    'geometry.rst',
+    'iodevices/analogsensor.rst',
+    'iodevices/dcmotor.rst',
+    'iodevices/ev3devsensor.rst',
+    'iodevices/i2cdevice.rst',
+    'iodevices/lumpdevice.rst',
+    'iodevices/lwp3device.rst',
+    'iodevices/uartdevice.rst',
+    'media.rst',
+    'messaging.rst',
+    'nxtdevices.rst',
+    'tools/datalog.rst'
 ]
 
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [(master_doc, "pybricks", "Pybricks Documentation", [author], 1)]
+man_pages = [
+    (master_doc, 'pybricks', 'Pybricks Documentation',
+     [author], 1)
+]
 
 
 # -- Options for Texinfo output -------------------------------------------
@@ -275,100 +295,33 @@ man_pages = [(master_doc, "pybricks", "Pybricks Documentation", [author], 1)]
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (
-        master_doc,
-        "Pybricks",
-        "Pybricks Documentation",
-        author,
-        "Pybricks",
-        "One line description of project.",
-        "Miscellaneous",
-    ),
+    (master_doc, 'Pybricks', 'Pybricks Documentation',
+     author, 'Pybricks', 'One line description of project.',
+     'Miscellaneous'),
 ]
 
 
 # -- .. availability:: directive
 
-
 class AvailabilityDirective(Directive):
     has_content = True
     option_spec = {
-        "movehub": flag,
-        "cityhub": flag,
-        "technichub": flag,
-        "ev3dev-stretch": flag,
+        'movehub': flag,
+        'cityhub': flag,
+        'technichub': flag,
+        'ev3dev-stretch': flag,
     }
 
     def run(self):
         if not self.options:
-            raise self.error("Must specify at least one platform.")
+            raise self.error('Must specify at least one platform.')
         # TODO: make links to platform pages
-        return [
-            nodes.emphasis(text="Availability: "),
-            nodes.Text(", ".join(self.options)),
-        ]
-
-
-def on_missing_reference(
-    app: Sphinx, env: BuildEnvironment, node: pending_xref, contnode: nodes.Element
-) -> nodes.Element:
-    # The Number type alias is on the Signals and Units page instead of on the
-    # pybricks.parameters page so normal resolution doesn't work
-    if node["reftype"] == "class" and node["reftarget"] == "Number":
-        return make_refnode(
-            app.builder, node["refdoc"], "signaltypes", "numbers", contnode
-        )
-
-    # References with special characters can't exist, so we have to suppress
-    # warnings when Sphinx tries to cross reference units like deg/s. For
-    # consistency, we also treat units without special characters this way.
-    for unit in [
-        "dBm",
-        "deg",
-        "deg/s",
-        "deg/s²",
-        "mm",
-        "mm/s",
-        "mm/s²",
-        "%",
-        "mV",
-        "mA",
-        "ms",
-        "mNm",
-        "Hz",
-        "°C",
-        "J",
-        "Ω",
-        "N",
-    ]:
-        try:
-            # If they match on raw source, we are dealing with argument types.
-            if unit == contnode.rawsource:
-                # Return as-is to suppress missing cross reference warning. We
-                # could make this more fancy by returning an xref node that links
-                # to the signals page.
-                return contnode
-
-        except AttributeError:
-            pass
-
-        # Return types are denoted as "int: deg"
-        try:
-            # Try to unpack the node.
-            ret_type, ret_unit = str(contnode).split(": ")
-        except ValueError:
-            # Not a valid format, so skip.
-            continue
-
-        # If it's a match, we could format the node so it looks a bit nicer.
-        # For now just keep the colon notation as is.
-        if unit == ret_unit:
-            return nodes.Text(f"{ret_type}: {ret_unit}")
+        return [nodes.emphasis(text='Availability: '),
+                nodes.Text(', '.join(self.options))]
 
 
 def setup(app: Sphinx):
-    app.add_directive("availability", AvailabilityDirective)
-    app.connect("missing-reference", on_missing_reference)
+    app.add_directive('availability', AvailabilityDirective)
 
 
 # -- Python domain hacks ---------------------------------------------------

doc/common/extensions/blockimg.py

@@ -1,60 +0,0 @@
-import os
-import xml.etree.ElementTree as ET
-
-from docutils.parsers.rst import directives
-from docutils.parsers.rst.directives.images import Image
-from docutils.nodes import image, paragraph
-from pathlib import Path
-
-SPHINX_IMAGE_PATH = "blockimg"
-
-SVG_SCALE = 0.9
-
-
-def get_svg_size(file_path):
-    tree = ET.parse(file_path)
-    root = tree.getroot()
-
-    width = root.attrib.get("width")
-    height = root.attrib.get("height")
-
-    return float(width), float(height)
-
-
-# Global variable to store the app object
-app = None
-
-
-class BlockImageDirective(Image):
-    option_spec = Image.option_spec.copy()
-    option_spec["stack"] = directives.flag
-
-    def run(self):
-        # Adjust the image path
-        file_name = self.arguments[0] + ".svg"
-        self.arguments[0] = "/" + SPHINX_IMAGE_PATH + "/" + file_name
-        path = Path(app.srcdir) / SPHINX_IMAGE_PATH / file_name
-
-        # Set it to the scaled SVG size unless width explicitly set.
-        if self.options.get("width") is None:
-            width, height = get_svg_size(path)
-            self.options["width"] = str(round(width * SVG_SCALE)) + "px"
-            self.options["height"] = str(round(height * SVG_SCALE)) + "px"
-
-        # Call the parent class's run method
-        nodes = super().run()
-
-        # Wrap each image node in a paragraph node
-        for i, node in enumerate(nodes):
-            if isinstance(node, image):
-                if "stack" not in self.options:
-                    node["classes"].append("block-image")
-                nodes[i] = paragraph("", "", node)
-
-        return nodes
-
-
-def setup(apparg):
-    global app
-    app = apparg
-    app.add_directive("blockimg", BlockImageDirective)

doc/common/extensions/classlink.py

@@ -13,23 +13,21 @@ class PybricksClasslinkDirective(Directive):
         link = name if len(self.arguments) == 1 else self.arguments[1]
 
         html = (
-            '<a href="{0}.html">'.format(link.lower())
-            + '<dl class="py class">'
-            + "<dt>"
-            + '<em class="property">class </em>'
-            + '<code class="sig-name descname">'
-            + name
-            + "</code>"
-            + "</dt>"
-            + "<dd></dd>"
-            + "</dl>"
-            + "</a>"
+            '<a href="{0}.html">'.format(link.lower()) +
+            '<dl class="py class">' +
+            '<dt>' +
+            '<em class="property">class </em>' +
+            '<code class="sig-name descname">' + name + '</code>' +
+            '</dt>' +
+            '<dd></dd>' +
+            '</dl>' +
+            '</a>'
         )
 
         # Return the node
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain("py", "pybricks-classlink", PybricksClasslinkDirective)
+    app.add_directive_to_domain('py', 'pybricks-classlink', PybricksClasslinkDirective)

doc/common/extensions/color.py

@@ -16,27 +16,28 @@ class PybricksColorDirective(Directive):
         color = getattr(Color, name)
 
         # Convert HSV to RGB
-        r, g, b = hsv_to_rgb(color.h / 360, color.s / 100, color.v / 100)
+        r, g, b = hsv_to_rgb(color.h/360, color.s/100, color.v/100)
 
         # Convert RGB to HEX
-        rgbhex = "#{0:02x}{1:02x}{2:02x}".format(
-            round(r * 255), round(g * 255), round(b * 255)
+        rgbhex = '#{0:02x}{1:02x}{2:02x}'.format(
+            round(r*255),
+            round(g*255),
+            round(b*255)
         )
 
         # Render a small block of the given color
         css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
 
         if name == "WHITE":
-            css += (
-                "border-style: solid; border-width: 0.5px;" + "border-color: #666666;"
-            )
+            css += "border-style: solid; border-width: 0.5px;" + \
+                   "border-color: #666666;"
 
         html = '<div id="test" style="{0}">_</div>'.format(css)
 
         # Return the node
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain("py", "pybricks-color", PybricksColorDirective)
+    app.add_directive_to_domain('py', 'pybricks-color', PybricksColorDirective)

doc/common/extensions/requirements-static.py

@@ -10,10 +10,10 @@ FEATURES_SMALL = set()
 
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    "pybricks-common-control",
-    "pybricks-iodevices",
-    "stm32-extra",
-    "stm32-float",
+    'pybricks-geometry',
+    'pybricks-iodevices',
+    'stm32-extra',
+    'stm32-float',
 }
 
 # Large feature set.
@@ -21,12 +21,11 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
 
 # Features per hub.
 HUB_FEATURES = {
-    "movehub": {"movehub"} | FEATURES_SMALL,
-    "cityhub": {"cityhub"} | FEATURES_MEDIUM,
-    "technichub": {"technichub", "gyro"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
-    "essentialhub": {"essentialhub", "gyro"} | FEATURES_LARGE,
+    'movehub': {'movehub'} | FEATURES_SMALL,
+    'cityhub': {'cityhub'} | FEATURES_MEDIUM,
+    'technichub': {'technichub'} | FEATURES_MEDIUM,
+    'primehub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
+    'inventorhub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
 }
 
 
@@ -41,24 +40,25 @@ class PybricksRequirementsStaticDirective(Directive):
         # CC BY-SA 4.0 via https://stackoverflow.com/a/63728208
         env = self.state.document.settings.env
 
-        destdir = path.join(env.app.builder.outdir, "_images")
+        destdir = path.join(env.app.builder.outdir, '_images')
         if not path.exists(destdir):
             makedirs(destdir)
 
         for hub in HUB_FEATURES:
-            uri = "compat_{0}.png".format(hub)
-            src_uri = path.join(env.app.builder.srcdir, "diagrams", uri)
-            build_uri = path.join(env.app.builder.outdir, "_images", uri)
-            copyfile(src_uri, build_uri)
+            for compat in ("true", "false"):
+                uri = 'compat_{0}_{1}_label.png'.format(hub, compat)
+                src_uri = path.join(env.app.builder.srcdir, 'images', uri)
+                build_uri = path.join(env.app.builder.outdir, '_images', uri)
+                copyfile(src_uri, build_uri)
 
         # Get requirements from sphinx-directive.
         requirements = set(self.arguments)
 
         # Cell with image of a hub.
         hub_cell = """
-        <th background="{0}_images/compat_{1}.png" class="requirements-table-th requirements-table-th">
-        {2}
-        </th>
+        <th><div class="align-default">
+        <img alt="" src="{0}_images/compat_{1}_{2}_label.png">
+        </div></th>
         """
 
         # Determine how far up the tree we are to set correct image path.
@@ -67,19 +67,18 @@ class PybricksRequirementsStaticDirective(Directive):
         depth_path = "../" * depth
 
         # Table row with hub images.
-        compat_row = "".join(
-            [
-                hub_cell.format(
-                    depth_path, hub, "✅" if requirements <= features else "❌"
-                )
-                for hub, features in HUB_FEATURES.items()
-            ]
-        )
+        compat_row = "".join([
+            hub_cell.format(
+                depth_path,
+                hub,
+                "true" if requirements <= features else "false")
+            for hub, features in HUB_FEATURES.items()
+        ])
 
         # Generate full table.
         html = """
         <div class="wy-table-responsive">
-            <table class="docutils align-default requirements-table">
+            <table class="docutils align-default">
                 <tbody>
                     <tr>
                         {0}
@@ -87,16 +86,16 @@ class PybricksRequirementsStaticDirective(Directive):
                 </tbody>
             </table>
         </div>
-        """.format(
-            compat_row
-        )
+        """.format(compat_row)
 
         # Return the node.
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
     app.add_directive_to_domain(
-        "py", "pybricks-requirements-static", PybricksRequirementsStaticDirective
+        'py',
+        'pybricks-requirements-static',
+        PybricksRequirementsStaticDirective
     )

doc/common/extensions/requirements.css

@@ -42,19 +42,3 @@ SOFTWARE. */
     margin-bottom: 0px;
 }
 
-.requirements-table {
-    width: 100%;
-}
-
-.requirements-table-th {
-    background-size:contain;
-    background-repeat: no-repeat;
-    text-align: right;
-    padding: 6px !important;
-  }
-
-.requirements-table-th:after {
-    content: '';
-    display: block;
-    margin-top: 80%;
-  }

doc/common/extensions/requirements.py

@@ -29,25 +29,25 @@ from sphinx.util.osutil import copyfile
 from sphinx.util import logging
 
 
-CSS_FILE = "requirements.css"
-JS_FILE = "requirements.js"
+CSS_FILE = 'requirements.css'
+JS_FILE = 'requirements.js'
 
 
 class PybricksRequirementsDirective(Directive):
     has_content = True
-    option_spec = {"header": directives.unchanged}
+    option_spec = {'header': directives.unchanged}
 
     required_arguments = 0
     optional_arguments = 10
 
     def run(self):
         node = nodes.container()
-        node["classes"].append("toggle-content")
+        node['classes'].append('toggle-content')
 
         par = nodes.container()
-        par["classes"].append("toggle-header")
+        par['classes'].append('toggle-header')
 
-        content = ".. pybricks-requirements-static:: " + " ".join(self.arguments)
+        content = '.. pybricks-requirements-static:: ' + " ".join(self.arguments)
 
         self.state.nested_parse(StringList([content]), self.content_offset, node)
 
@@ -60,20 +60,20 @@ def add_assets(app):
 
 
 def copy_assets(app, exception):
-    if app.builder.name not in ["html", "readthedocs"] or exception:
+    if app.builder.name not in ['html', 'readthedocs'] or exception:
         return
     logger = logging.getLogger(__name__)
-    logger.info("Copying requirements stylesheet/javascript... ", nonl=True)
-    dest = os.path.join(app.builder.outdir, "_static", CSS_FILE)
+    logger.info('Copying requirements stylesheet/javascript... ', nonl=True)
+    dest = os.path.join(app.builder.outdir, '_static', CSS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), CSS_FILE)
     copyfile(source, dest)
-    dest = os.path.join(app.builder.outdir, "_static", JS_FILE)
+    dest = os.path.join(app.builder.outdir, '_static', JS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), JS_FILE)
     copyfile(source, dest)
-    logger.info("done")
+    logger.info('done')
 
 
 def setup(app):
-    app.add_directive("pybricks-requirements", PybricksRequirementsDirective)
-    app.connect("builder-inited", add_assets)
-    app.connect("build-finished", copy_assets)
+    app.add_directive('pybricks-requirements', PybricksRequirementsDirective)
+    app.connect('builder-inited', add_assets)
+    app.connect('build-finished', copy_assets)

doc/common/extensions/versionchanged.py

@@ -1,31 +0,0 @@
-"""This directive hides the builtin directives
-    * versionchanged
-    * versionadded
-    * deprecated
-when building documentation with the 'ide' tag.
-"""
-from docutils import nodes
-from docutils.parsers.rst import Directive
-
-
-class PybricksVersionDirective(Directive):
-
-    has_content = True
-
-    def run(self):
-        html = ""
-        node = nodes.raw("", html, format="html")
-        return [node]
-
-
-def setup(app):
-    if "ide" in app.tags.tags:
-        app.add_directive_to_domain(
-            "py", "deprecated", PybricksVersionDirective, override=True
-        )
-        app.add_directive_to_domain(
-            "py", "versionadded", PybricksVersionDirective, override=True
-        )
-        app.add_directive_to_domain(
-            "py", "versionchanged", PybricksVersionDirective, override=True
-        )

doc/main/blockimg/LICENSE

@@ -1 +0,0 @@
-Copyright (c) 2023 The Pybricks Authors - All rights reserved

doc/main/blockimg/pybricks_blockBatteryMeasure_CityHub_battery.current.svg

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