CHANGELOG.md

Changelog

Notable changes of tdmclient. Release versions refer to [https://pypi.org/project/tdmclient/].

[Unreleased]

[0.1.21] - 2023-09-25

Fixed

• In transpiler, event name fixed in code generated for emit

[0.1.20] - 2023-04-24

Added

• Tool info to display the variables, events and native functions of a robot.
• Existence of a variable in a node can be tested with in or not in.
• In tool list, the product id (content of the node variable _productId) is displayed if it's available, with its meaning if it's known.
• In transpiler, as an alternative to the onevent decorator, functions can be declared as event handlers by calling onevent as a function. For example the three code fragments below are equivalent:

  @onevent
  def timer0():
      ...
  

  def timer0():
      ...
  onevent(timer0)
  

  def task():
      ...
  onevent(task, "timer0")
  

Fixed

• Variable size returned in node description.
• In transpiler:
  • Empty lists are now reported as unsupported instead of an obscure exception.
  • Variable prox_ground_ambient was mapped to Thymio variable prox.ground.ambient which is misspelled in the robot firmware as prox.ground.ambiant; transpiled code was rejected by the Aseba compiler. Now both prox_ground_ambient and prox_ground_ambiant are mapped to prox.ground.ambiant to suit both new Python documentation with a correct spelling and programmers using Aseba documentation.
  • Deque functions are prefixed with nf_ to be consistent with other native functions and with the documentation.
  • Typo in the name of variables event.*.
  • In user-defined event names in @onevent def and emit, underscore characters are replaced with dots. These events are now consistant with the automatic definitions of run.

[0.1.19] - 2022-09-26

Added

• Option to browse zeroconf information on all interfaces instead of default one. Optional argument all_interfaces in constructors of TDMZeroconfBrowser, Client and ClientAsync; and option --zcall in tools gui, list, repl, run, tdmdiscovery and watch.
• In tool watch, new options to filter the information to observe: --events, --scratchpads, --shared-event-descr, --shared-variables, --variables, --vm-state.
• New tool sendevent.

Changed

• Default TDM is local on port 8596 (fixed port of TDM as launched by Thymio Suite). Zeroconf is used only if requested with zeroconf=True in the constructors of Client and ClientAsync and in method tdmclient.notebook.start, or --zeroconf in the tools.

Fixed

• Module websockets not needed anymore except to enable option --ws in tool server.
• In tool gui, connection closed on exit.
• Group id instead of node id in TDM message SendEvents.

[0.1.18] - 2022-06-22

Added

• In transpiler, syntax errors are displayed with context

Fixed

• Module tkinter not needed anymore except for tool gui
• In transpiler, attribute syntax for scalar Thymio variables, such as import thymio; x = thymio.button_center

[0.1.17] - 2022-06-13

Added

• Exported NodeLockError

Fixed

• Dependency on package websocket-client removed (websocket-client should be installed separately if Client or ClientAsync are instantiated with tdm_ws=True)

[0.1.16] - 2022-05-16

Added

• Optional connection to the TDM using a WebSocket instead of plain TCP
• In tools gui, list, repl, run, and watch:
  • option --tdmport default stands for the default TDM TCP port 8596
  • option --tdmws to connect to the TDM with a WebSocket
• In server:
  • improved support to use in other programs

Changed

• To make the tools easier to reuse from code, their entry point has been moved to the root of the module, and the tool name must be provided as the first argument. For example instead of

  python3 -m tdmclient.tools.run program.py
  

  you must now type

  python3 -m tdmclient run program.py
  

  To call the main function of a tool, import it with import tdmclient.tools instead of e.g. import tdmclient.tools.run; and call tdmclient.tools.run.main([args...]) as before. Or use an alternative import or from ... import variant if you prefer.

Fixed

• When closing the TCP connection, callback functions are all executed in turn when the connection is actually closed

[0.1.15] - 2022-04-05

Added

• In transpiler:
  • In tdmclient.tools.transpile and notebooks, option --warning-missing-global to display warnings for local variables which hide global variables (a declaration as global could be missing)
  • Exception NameError replaced by TranspilerError with node context to display the line number in the error message
  • Property lineno in exception class TranspilerError
  • Transpiler exception for unsupported augmented assignments /=, **= and @=
  • Errors on undefined variables or invalid use of list variables or indexing in augmented assignments
• In function ClientAsync.wait_for_node, optional argument timeout
• In server:
  • options --port, --debug, --zeroconf
  • support for WebSocket
  • code easier to use in other programs

Fixed

• In transpiler:
  • Name of local list variables passed to native functions wasn't converted
  • User functions called in arguments of emit, exit and print caused an exception
• In server:
  • Clean shutdown of connection thread
  • Socket address reused
  • Separate group id

[0.1.14] - 2022-01-23

Added

• Transpiler exception for unsupported operators such as /, ** and @

Fixed

• Options of tool tdmclient.tools.gui
• In transpiler:
  • Check that constants such as RED are not assigned to (clean error from transpiler instead of incorrect transpiled code)
  • When auxiliary statements are required to compute the condition of elif, the generated code is else aux if ... end end instead of aux elseif ... end

[0.1.13] - 2022-01-11

Added

• Optional boolean argument zeroconf in Client constructor and Jupyter functions start(), list(), and watch()
• Class NodeLockError with the current node status raised when a node cannot be locked
• Optional key argument password in the constructor of ClientAsync to connect to remote TDM
• In repl:
  • Key argument robot_index in functions and option --robotindex in Jupyter magic commands to specify the robot by index
  • Optional robot specification in send_event
  • Optional argument all_nodes in function process_events
• In notebooks:
  • Optional debug argument in start()
  • Optional password argument in start(), list(), watch()
  • Optional timeout argument in list() and get_nodes()
  • Multiple targets in magic commands %%run_python and %%run_aseba with comma-separated list of robots
• Option --password in tools tdmclient.tools.guy, tdmclient.tools.list, tdmclient.tools.repl, tdmclient.tools.run, tdmclient.tools.watch

Changed

• In repl and Jupyter, callback on_event_data has a new node argument to better support interaction with multiple robots

Fixed

• Method Client.create_node() referred to a symbol which wasn't imported
• Watch flag changes sent by methods ClientAsyncNode.watch and ClientAsyncNode.unwatch
• In repl, support for starred expressions
• Support for fragmented packets
• In notebooks, function get_nodes() must be called after start() and with its tdm connection to avoid returning orphan nodes

[0.1.12] - 2021-12-07

Added

• In tdmclient.tools.watch, options to select the tdm and the robot
• In repl:
  • in functions run() and stop(), keyword arguments robot_id or robot_name to specify another robot, which is locked during the call
  • the complete Python or Aseba source code of a program can be passed to function run() as an alternative to collecting @onevent functions and global variables
• In notebooks:
  • private symbols not defined anymore in tdmclient.notebook
  • docstrings for magic commands, displayed with e.g. %%run_python?
  • In magic commands %%run_python and %%run_aseba, options --robot-id ID or --robot-name NAME to specify another robot, which is locked during the execution
  • functions list() and get_nodes() can be called before start()
  • function tdmclient.notebook.watch(), to be called as await tdmclient.notebook.watch() to display the robot variables with live update
• In transpiler, support for lists given as len(...)*[...] or [...]*len(...)
• When decoding flatbuffer strings, illegal utf-8 sequences decoded as U+FFFD (replacement character) instead of raising an exception

Changed

• In notebooks, functions list() and get_nodes() use by default the TDM connection established by start() instead of a local TDM advertized by zeroconf

Fixed

• Local variables defined by the assignment of a global variable neither declared with global nor predefined as Thymio variables raised an exception

[0.1.11] - 2021-11-17

Added

• Runtime VM errors reported in repl and tdmclient.tools.run

Fixed

• In transpiler, temporary variables in for loops overwrote the loop limit and step
• Format of the tdm message for VM state changed

[0.1.10] - 2021-11-04

Added

• In transpiler, support for lists given as num*[...] or [...]*num

Fixed

• In transpiler, access to undeclared global variables when they aren't hidden by a local variable
• In repl and notebooks, synchronized user variables not forgotten when a program is run on the robot

[0.1.9] - 2021-10-20

Added

• In tdmclient.tools.repl, launch code moved to a function main(argv=None) so that it can be called from the Python shell
• In repl and notebooks, shortened message when interrupting program

Fixed

• In transpiler, module "clock" fixed
• In repl, better support for Python 3.6 and 3.10

[0.1.8] - 2021-10-13

Added

• In transpiler:
  • module clock with functions seconds(), ticks_50Hz() and reset()
• In repl:
  • functions get_client() and get_node()
  • functions get_var and set_var
  • global variables defined in the robot program added to the list of variables to be synchronized
• In notebooks:
  • functions get_nodes() and list() to get the list of nodes available in the TDM
  • decorator @sync_var to synchronize the robot variables accessed in the function
  • in %%run_python, option --clear-event-data to call clear_event_data() before starting the program

Fixed

• In the run() function of repl and notebooks and in tdmclient.tools.run, the decision to wait or not when no explicit option is specified is now based only on custom events (events not predefined in the vm)
• Better compatibility with Python 3.6:
  • in transpiler, support of string constants as documentation strings or arguments of print() and emit()
  • in repl, no warning for numbers and booleans
• Decoding of the size of array variables obtained from TDM
• In repl, underscores not converted to dots in name of global variables which don't correspond to a known Thymio variable
• Documentation improvements

[0.1.7] - 2021-09-27

Added

• In transpiler, support for receiving custom events with arguments
• In repl, function send_event
• In notebooks, functions stop, get_client, get_node

Fixed

• In transpiler:
  • % in print string constants
  • in method simple_transpile, symbols from module thymio imported by default

[0.1.6] - 2021-09-22

Added

• In transpiler, definitions for more native functions
• New notebook to illustrate the use of native functions
• Nul bytes in zeroconf property "ws-port" discarded

[0.1.5] - 2021-09-14

Added

• In transpiler:
  • support for exit
  • dict of events emitted by emit, with automatic declaration by tool tdmclient.tools.run and function run in repl and notebooks
• In documentation:
  • note on the replacement of run_async_program with await in Jupyter notebooks
• By default, locking the default node raises an error if it's busy instead of waiting
• Event output in tool tdmclient.tools.run written with CSV format

Fixed

• In transpiler:
  • and and or
  • augmented assignments with indexed variable target
  • range with negative step
  • list arguments in native function calls
  • check for recursive function calls
  • code generated for functions math_clamp and math_muldiv
• In repl, event listeners reset when needed

[0.1.4] - 2021-08-30

Added

• In transpiler:
  • support for print
  • support for module thymio which can replace predefined Thymio variables and native functions
• In tdmclient.tools.run, support for events

Fixed

• In transpiler:
  • native functions without return value

[0.1.3] - 2021-05-06

Added

• Support for Jupyter notebooks
• In repl:
  • access to Aseba code
  • function to forget definitions for the Thymio
  • help and documentation
• In tools gui, repl and run, new options --robotid and --robotid

Fixed

• In transpiler:
  • decoding of indices
  • compatibility with older versions
• In repl:
  • user-defined functions
  • initialization of global variables in robot code
• Tool tdmclient.tools.variables renamed tdmclient.tools.gui

[0.1.2] - 2021-04-27

Added

• In transpiler:
  • arguments, return value and local variables in function definitions;
  • dot replaced with underscore in Thymio variable and native function names;
  • Thymio variables must be declared as global in all function definitions;
  • conditional expressions;
  • chained comparisons;
  • function len;
  • better error messages
• New methods Client.shutdown_tdm, ClientAsync.rename, ClientAsync.send_events
• New callbacks Client.on_events_received, Client.on_event_received
• Argument of callback Client.on_variables_changed simplified
• Dummy server

Fixed

• Missing tools in binary distribution

[0.1.1] - 2021-03-25

Added

• Python-to-Aseba transpiler.
• Node objects with significant refactoring. Node-related methods of classes Thymio, Client or ClientAsync which used node_id_str to identify the node have been replaced by methods of new classes Node, ClientNode and ClientAsyncNode, respectively. Their use is simpler.
• Options to specify the TDM address and port and avoid zeroconf

[0.1.0] - 2021-03-17

Added

• First release on PyPI.