@pybricks/ide-docs v2.9.0

This adds a new BLE class that is used for connectionless broadcasting/
observing on hubs with built-in Bluetooth Low Energy.

Also see https://github.com/pybricks/pybricks-micropython/pull/158.

.github/workflows/build.yml

@@ -6,7 +6,7 @@ name: Build Python package and docs
 on: 
   push:
     tags-ignore:
-      - "*"
+      - '**'
   pull_request:
     paths:
       - doc/**
@@ -20,19 +20,11 @@ on:
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: [3.8, 3.9]
-
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       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

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

@@ -7,17 +7,17 @@ on:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     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@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
     - name: Set up Python 3.8
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v4
       with:
         python-version: 3.8
     - name: Install dependencies
@@ -26,7 +26,7 @@ jobs:
         poetry run python -m pip install --upgrade pip
         poetry run python -m pip install --upgrade setuptools
         poetry install
-    - uses: actions/setup-node@v1
+    - uses: actions/setup-node@v3
       with:
         node-version: '14.x'
         registry-url: 'https://registry.npmjs.org'

.github/workflows/publish-jedi.yml

@@ -6,10 +6,10 @@ on:
     - '@pybricks/jedi/**'
 
 jobs:
-  publish_ide_docs:
+  publish_jedi:
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     # Setup .npmrc file to publish to npm
     - uses: actions/setup-node@v3
       with:

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

@@ -6,17 +6,10 @@ on:
 
 jobs:
   build_and_publish:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
-    - 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
+    - uses: actions/checkout@v3
+    - run: pipx run poetry build
+    - run: pipx run poetry publish
       env:
         POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}

.readthedocs.yml

@@ -0,0 +1,26 @@
+# .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
+  fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf

.vscode/extensions.json

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

.vscode/settings.json

@@ -2,16 +2,16 @@
     "files.exclude": {
       "**/__pycache__": true,
     },
-
+    "python.defaultInterpreterPath": ".venv/bin/python",
     "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "black",
+    "python.formatting.provider": "none",
     "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
     "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
     "[python]": {
         "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.python"
+        "editor.defaultFormatter": "ms-python.black-formatter"
     },
     "python.languageServer": "Pylance",
     "python.testing.pytestArgs": [

CHANGELOG.md

@@ -4,6 +4,61 @@
 
 ## Unreleased
 
+## 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

README.rst

@@ -12,6 +12,11 @@ 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

@@ -16,8 +16,8 @@ help:
 .PHONY: help Makefile
 
 diagrams:
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source clean
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source clean
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_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/ide.css

@@ -40,3 +40,11 @@
 ::-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

@@ -41,3 +41,7 @@ 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

@@ -169,6 +169,7 @@ html_context = {
 html_theme_options = {
     "style_external_links": True,
     "logo_only": True,
+    "style_nav_header_background": "#0088ce",  # Pybricks blue
 }
 
 # Add any paths that contain custom static files (such as style sheets) here,
@@ -320,10 +321,11 @@ def on_missing_reference(
             app.builder, node["refdoc"], "signaltypes", "numbers", contnode
         )
 
-    # References with special characters can't exist, so we have to supress
+    # 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",

doc/common/extensions/requirements-static.py

@@ -10,7 +10,7 @@ FEATURES_SMALL = set()
 
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    "pybricks-geometry",
+    "pybricks-common-control",
     "pybricks-iodevices",
     "stm32-extra",
     "stm32-float",
@@ -23,10 +23,10 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
 HUB_FEATURES = {
     "movehub": {"movehub"} | FEATURES_SMALL,
     "cityhub": {"cityhub"} | FEATURES_MEDIUM,
-    "technichub": {"technichub"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub"} | FEATURES_LARGE,
-    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
+    "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,
 }
 
 
@@ -46,20 +46,19 @@ class PybricksRequirementsStaticDirective(Directive):
             makedirs(destdir)
 
         for hub in HUB_FEATURES:
-            for compat in ("true", "false"):
-                uri = "compat_{0}_{1}.png".format(hub, compat)
-                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)
+            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)
 
         # Get requirements from sphinx-directive.
         requirements = set(self.arguments)
 
         # Cell with image of a hub.
         hub_cell = """
-        <th><div class="align-default">
-        <img alt="" src="{0}_images/compat_{1}_{2}.png">
-        </div></th>
+        <th background="{0}_images/compat_{1}.png" class="requirements-table-th requirements-table-th">
+        {2}
+        </th>
         """
 
         # Determine how far up the tree we are to set correct image path.
@@ -71,7 +70,7 @@ class PybricksRequirementsStaticDirective(Directive):
         compat_row = "".join(
             [
                 hub_cell.format(
-                    depth_path, hub, "true" if requirements <= features else "false"
+                    depth_path, hub, "✅" if requirements <= features else "❌"
                 )
                 for hub, features in HUB_FEATURES.items()
             ]
@@ -80,7 +79,7 @@ class PybricksRequirementsStaticDirective(Directive):
         # Generate full table.
         html = """
         <div class="wy-table-responsive">
-            <table class="docutils align-default">
+            <table class="docutils align-default requirements-table">
                 <tbody>
                     <tr>
                         {0}

doc/common/extensions/requirements.css

@@ -42,3 +42,19 @@ 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/main/cad/copy-renders.sh

@@ -24,7 +24,7 @@ cp LPub3D/assem/main_1_hubs_1_hub-prime-*35_-35_0_ABS.png output/hub-prime.png
 cp LPub3D/assem/main_1_hubs_1_hub-prime-*45_45_0_ABS.png output/hub-prime-orientation.png
 cp LPub3D/assem/main_1_hubs_1_hub-prime-*90_0_0_ABS.png output/hub-prime-display.png
 cp LPub3D/assem/main_1_hubs_1_hub-technic-*35_-35_0_ABS.png output/hub-technic.png
-cp LPub3D/assem/main_1_hubs_1_hub-technic-*45_-135_0_ABS.png output/hub-technic-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-technic-*45_45_0_ABS.png output/hub-technic-orientation.png
 cp LPub3D/assem/main_1_iodevices-*.png output/iodevice-all.png
 cp LPub3D/assem/main_1_iodevices_1_iodevice-dcmotor-*.png output/iodevice-dcmotor.png
 cp LPub3D/assem/main_1_iodevices_1_iodevice-pupdevice-*.png output/iodevice-pupdevice.png

doc/main/conf.py

@@ -8,7 +8,7 @@ import sys
 
 # General information about the project.
 project = "pybricks"
-copyright = "2018-2021 The Pybricks Authors"
+copyright = "2018-2023 The Pybricks Authors"
 author = ""
 
 _TITLE = "Pybricks Modules and Examples"
@@ -29,7 +29,7 @@ if os.environ.get("READTHEDOCS", None) == "True":
 # HACK: this allows Number type alias to be imported by Sphinx
 os.environ["SPHINX_BUILD"] = "True"
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
     _DISCLAIMER = ""
     html_show_copyright = False
@@ -45,7 +45,7 @@ if "ide" in tags.tags:  # noqa F821
 
 exec(open(os.path.abspath("../common/conf.py")).read())
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
 
     extensions.remove("sphinx.ext.mathjax")  # noqa F821

doc/main/diagrams_source/compat_cityhub.svg

@@ -8,7 +8,7 @@
    version="1.1"
    id="svg887"
    inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
-   sodipodi:docname="compat_cityhub_true.svg"
+   sodipodi:docname="compat_cityhub.svg"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:xlink="http://www.w3.org/1999/xlink"
@@ -40,15 +40,15 @@
      inkscape:pageshadow="2"
      inkscape:zoom="3.3219805"
      inkscape:cx="34.617903"
-     inkscape:cy="95.726028"
+     inkscape:cy="95.575516"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
      units="px"
-     inkscape:window-width="1920"
-     inkscape:window-height="1163"
-     inkscape:window-x="1920"
-     inkscape:window-y="0"
+     inkscape:window-width="1856"
+     inkscape:window-height="1136"
+     inkscape:window-x="64"
+     inkscape:window-y="27"
      inkscape:window-maximized="1"
      inkscape:snap-global="false"
      inkscape:pagecheckerboard="0" />
@@ -75,10 +75,5 @@
        y="265.09711"
        width="23.382999"
        height="26.799999" />
-    <path
-       style="fill:none;stroke:#84ba4c;stroke-width:1;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-       d="m 31.147057,265.82725 1.011052,2.9815 3.622948,-4.60003"
-       id="path854"
-       inkscape:connector-curvature="0" />
   </g>
 </svg>

doc/main/diagrams_source/compat_cityhub_false.svg

@@ -1,94 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   width="150"
-   height="135"
-   viewBox="0 0 39.687499 35.718751"
-   version="1.1"
-   id="svg887"
-   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
-   sodipodi:docname="compat_cityhub_false.svg"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/">
-  <defs
-     id="defs881">
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath1545">
-      <rect
-         style="fill:#fe2020;fill-opacity:0.48022599;stroke:none;stroke-width:0.99999994;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
-         id="rect1547"
-         width="39.6875"
-         height="35.71875"
-         x="-25.390602"
-         y="312.93103" />
-    </clipPath>
-  </defs>
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#fcfcfc"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="1"
-     inkscape:pageshadow="2"
-     inkscape:zoom="3.0825819"
-     inkscape:cx="78.505619"
-     inkscape:cy="101.70046"
-     inkscape:document-units="px"
-     inkscape:current-layer="layer1"
-     showgrid="false"
-     units="px"
-     inkscape:window-width="1856"
-     inkscape:window-height="1136"
-     inkscape:window-x="64"
-     inkscape:window-y="27"
-     inkscape:window-maximized="1"
-     inkscape:snap-global="false"
-     inkscape:pagecheckerboard="0" />
-  <metadata
-     id="metadata884">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <g
-     inkscape:label="Layer 1"
-     inkscape:groupmode="layer"
-     id="layer1"
-     transform="translate(0,-261.28123)">
-    <image
-       xlink:href="../cad/output/hub-city.png"
-       id="image1470"
-       x="8.0035677"
-       y="265.09711"
-       width="23.382999"
-       height="26.799999" />
-    <g
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-         id="path858"
-         inkscape:connector-curvature="0" />
-    </g>
-  </g>
-</svg>

doc/main/diagrams_source/compat_essentialhub.svg

@@ -8,7 +8,7 @@
    version="1.1"
    id="svg887"
    inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
-   sodipodi:docname="compat_essentialhub_true.svg"
+   sodipodi:docname="compat_essentialhub.svg"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:xlink="http://www.w3.org/1999/xlink"
@@ -38,9 +38,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:zoom="2.3960249"
-     inkscape:cx="-130.63303"
-     inkscape:cy="93.696856"
+     inkscape:zoom="3.4759103"
+     inkscape:cx="134.0656"
+     inkscape:cy="60.84737"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -75,10 +75,5 @@
        y="267.43524"
        width="25.393"
        height="22.579" />
-    <path
-       style="fill:none;stroke:#84ba4c;stroke-width:1;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-       d="m 31.147057,265.82725 1.011052,2.9815 3.622948,-4.60003"
-       id="path854"
-       inkscape:connector-curvature="0" />
   </g>
 </svg>

doc/main/diagrams_source/compat_essentialhub_false.svg

@@ -1,94 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   width="150"
-   height="135"
-   viewBox="0 0 39.687499 35.718751"
-   version="1.1"
-   id="svg887"
-   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
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