pybricks.common: Add new BLE class.

dlech · web-flow · commit 3274cef849d9 · 2023-05-16T14:46:53.000-05:00
This adds a new BLE class that is used for connectionless broadcasting/ observing on hubs with built-in Bluetooth Low Energy. Also see pybricks/pybricks-micropython#158.
diff --git a/doc/common/conf.py b/doc/common/conf.py
@@ -325,6 +325,7 @@ def on_missing_reference(
     # 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",
diff --git a/doc/main/hubs/cityhub.rst b/doc/main/hubs/cityhub.rst
@@ -19,6 +19,17 @@ City Hub
 
     .. automethod:: pybricks.hubs::CityHub.light.animate
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    ``ble.broadcast()`` does not work on ``CityHub`` due to a bug in the
+    Bluetooth chip firmware.
+
+    .. automethod:: pybricks.hubs::CityHub.ble.observe
+
+    .. automethod:: pybricks.hubs::CityHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::CityHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::CityHub.battery.voltage
@@ -70,6 +81,17 @@ Creating light animations
 .. literalinclude::
     ../../../examples/pup/hub_common/build/light_animate_cityhub.py
 
+
+Bluetooth examples
+------------------
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_cityhub.py
+
+
 Button and system examples
 ----------------------------------
 
diff --git a/doc/main/hubs/essentialhub.rst b/doc/main/hubs/essentialhub.rst
@@ -47,6 +47,16 @@ Essential Hub
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.settings
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.observe
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
@@ -136,6 +146,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_essentialhub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_essentialhub.py
+
+
 System examples
 ----------------------------------
 
diff --git a/doc/main/hubs/movehub.rst b/doc/main/hubs/movehub.rst
@@ -31,6 +31,16 @@ Move Hub
 
             Changed acceleration units from m/s² to mm/s².
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.observe
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::MoveHub.battery.voltage
@@ -85,6 +95,23 @@ Reading acceleration
 .. literalinclude::
     ../../../examples/pup/hub_movehub/imu_read_acceleration.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_movehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_movehub.py
+
+
 Button and system examples
 ----------------------------------
 
diff --git a/doc/main/hubs/primehub.rst b/doc/main/hubs/primehub.rst
@@ -89,6 +89,16 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.observe
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
@@ -247,6 +257,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_primehub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_primehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_primehub.py
+
+
 System examples
 ----------------------------------
 
diff --git a/doc/main/hubs/technichub.rst b/doc/main/hubs/technichub.rst
@@ -43,6 +43,16 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.imu.settings
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.observe
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -128,6 +138,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_technichub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_technichub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_technichub.py
+
+
 Button and system examples
 ----------------------------------
 
diff --git a/examples/pup/hub_common/ble_broadcast.py b/examples/pup/hub_common/ble_broadcast.py
@@ -0,0 +1,24 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(broadcast_channel=1)
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Read the motor angles to be sent to the other hub.
+    left_angle = left_motor.angle()
+    right_angle = right_motor.angle()
+
+    # Set the broadcast data and start broadcasting if not already doing so.
+    hub.ble.broadcast(left_angle, right_angle)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is no reason
+    # to call the broadcast() method more often than that.
+    wait(100)
diff --git a/examples/pup/hub_common/ble_observe.py b/examples/pup/hub_common/ble_observe.py
@@ -0,0 +1,39 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Color, Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(observe_channels=[1])
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Receive broadcast from the other hub.
+
+    data = hub.ble.observe(1)
+
+    if data is None:
+        # No data has been received in the last 1 second.
+        hub.light.on(Color.RED)
+    else:
+        # Data was received and is less that one second old.
+        hub.light.on(Color.GREEN)
+
+        # *data* contains the same values in the same order
+        # that were passed to hub.ble.broadcast() on the
+        # other hub.
+        left_angle = data[0]
+        right_angle = data[1]
+
+        # Make the motors on this hub mirror the position of the
+        # motors on the other hub.
+        left_motor.track_target(left_angle)
+        right_motor.track_target(right_angle)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is
+    # no reason to call the observe() method more often than that.
+    wait(100)
diff --git a/jedi/tests/test_complete_city_hub.py b/jedi/tests/test_complete_city_hub.py
@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "light",
         "system",
diff --git a/jedi/tests/test_complete_essential_hub.py b/jedi/tests/test_complete_essential_hub.py
@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "charger",
         "imu",
diff --git a/jedi/tests/test_complete_move_hub.py b/jedi/tests/test_complete_move_hub.py
@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "imu",
         "light",
diff --git a/jedi/tests/test_complete_prime_hub.py b/jedi/tests/test_complete_prime_hub.py
@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "buttons",
         "charger",
         "display",
diff --git a/jedi/tests/test_complete_technic_hub.py b/jedi/tests/test_complete_technic_hub.py
@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "imu",
         "light",
diff --git a/jedi/tests/test_get_signature.py b/jedi/tests/test_get_signature.py
@@ -78,17 +78,51 @@ def _get_constructor_signature(module: str, type: str) -> SignatureHelp:
 
 
 CONSTRUCTOR_PARAMS = [
-    pytest.param("pybricks.hubs", "MoveHub", [[]]),
-    pytest.param("pybricks.hubs", "CityHub", [[]]),
+    pytest.param(
+        "pybricks.hubs",
+        "MoveHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "CityHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
     pytest.param(
         "pybricks.hubs",
         "TechnicHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
     ),
     pytest.param(
         "pybricks.hubs",
         "PrimeHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "EssentialHub",
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
     ),
     pytest.param(
         "pybricks.pupdevices",
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
diff --git a/src/pybricks/hubs.py b/src/pybricks/hubs.py
