Aseba Adapters

class pyenki.adapters.Thymio2AsebaAdapter

Exposes an interface that mimics the Aseba interface of the Thymio, where

• Aseba variables x.y.z are exposed as Python properties x_y_z

• Aseba functions x.y.z are exposed as Python methods call_x_y_z with the same number of integer arguments.

Note

This adapter does not implement Aseba events, which is the primary interface of Aseba controllers. Instead, it allows to write procedural controllers, which, although structurally different, can be functionally equivalent.

For example, we can mimic the following Aseba piece of code

call leds.top(32, 0, 0)
if prox.horizontal[2] > 2000 then
    motor.left.target = 123
else
    motor.left.target = 0
end

with

# Create a Thymio
thymio = pyenki.Thymio2()
# Wrap it in the Aseba-like interface
aseba = Thymio2AsebaAdapter(thymio)
# Use a similar API

aseba.call_leds_top(32, 0, 0)
if aseba.prox_horizontal[2] > 2000:
    aseba.motor_left_target = 123
else
    aseba.motor_left_target = 0
end

The exception are variables related to proximity communication. While aseba keeps only the most-recent received message in prox.comm.rx._payloads, prox.comm.rx._intensities and prox.comm.rx and generate an event each time a message is received, this adapter returns a list of messages received in the last update steps, in prox_comm_rx__payloads, prox_comm_rx__intensities, and prox_comm_rx.

__init__(thymio: Thymio2) → None

call_comm_enable(value: int) → None

call_led_sound(value: int) → None

call_led_temperature(*values: int) → None

call_leds_bottom_left(*values: int) → None

call_leds_bottom_right(*values: int) → None

call_leds_buttons(*values: int) → None

call_leds_circle(*values: int) → None

call_leds_prox_h(*values: int) → None

call_leds_prox_v(*values: int) → None

call_leds_rc(value: int) → None

call_leds_top(*values: int) → None

property acc: list[int]

property acc__tap: int

property button_backward: int

property button_center: int

property button_forward: int

property button_left: int

property button_right: int

property leds_bottom_left: list[int]

property leds_bottom_right: list[int]

property leds_circle: list[int]

property leds_top: list[int]

property mic__mean: int

property mic_intensity: int

property motor_left_pwm: int

property motor_left_speed: int

property motor_left_target: int

property motor_right_pwm: int

property motor_right_speed: int

property motor_right_target: int

property prox_comm_rx: list[int]

property prox_comm_rx__intensities: list[list[int]]

property prox_comm_rx__payloads: list[list[int]]

property prox_comm_tx: int

property prox_ground_ambiant: list[int]

property prox_ground_delta: list[int]

property prox_ground_reflected: list[int]

property prox_horizontal: list[int]

property r5_address: int

property r5_command: int

property temperature: int