pybricks: Drop geometry module.

laurensvalk · laurensvalk · commit f64085167f28 · 2023-04-21T14:03:00.000+02:00
Since this will only have a few items, this fits better in pybricks.tools.

pybricks.geometry.Axis fits best in parameters. This will also let us
use it on Move Hub as an enum literal, not float vector.

The geometry QSTR now just points to the tools module, preserving
backwards compatibility with Pybricks V3.2.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -15,7 +15,7 @@
   driving at high speed ([support#1032]).
 
 ### Added
-- Added `pybricks.geometry.cross(a, b)` to get a vector cross product.
+- Added `pybricks.tools.cross(a, b)` to get a vector cross product.
 - Added experimental implementation of `hub.imu.heading()` ([support#912]).
 - Added support for reading single-axis rotation, which is useful in
   applications like balancing robots, where full 3D orientation is not
@@ -32,6 +32,10 @@
 - Removed `positive_direction` from `DriveBase` initializer. This was
   temporarily added in the previous beta release to facilitate gyro support,
   but made it more complicated than needed ([support#992]).
+- Removed `pybricks.geometry` in an effort to reduce the number of modules with
+  just a few elements. `Matrix` and `vector` have moved to `tools`. The `Axis`
+  enum was moved to `parameters`. Each item can still be imported from its
+  original location for backwards compatibility.
 
 ### Fixed
 
diff --git a/bricks/_common/qstrdefs.h b/bricks/_common/qstrdefs.h
@@ -15,7 +15,7 @@ Q(pybricks.ev3devices)
 Q(pybricks.experimental)
 #endif
 
-#if PYBRICKS_PY_GEOMETRY
+#if MICROPY_PY_BUILTINS_FLOAT // backwards compatibility with Pybricks V3.2, maps to pybricks.tools
 Q(pybricks.geometry)
 #endif
 
diff --git a/bricks/_common/sources.mk b/bricks/_common/sources.mk
@@ -45,8 +45,6 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	ev3devices/pb_type_ev3devices_touchsensor.c \
 	ev3devices/pb_type_ev3devices_ultrasonicsensor.c \
 	experimental/pb_module_experimental.c \
-	geometry/pb_module_geometry.c \
-	geometry/pb_type_matrix.c \
 	hubs/pb_module_hubs.c \
 	hubs/pb_type_cityhub.c \
 	hubs/pb_type_essentialhub.c \
@@ -74,6 +72,7 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	nxtdevices/pb_type_nxtdevices_touchsensor.c \
 	nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c \
 	parameters/pb_module_parameters.c \
+	parameters/pb_type_axis.c \
 	parameters/pb_type_button.c \
 	parameters/pb_type_color.c \
 	parameters/pb_type_direction.c \
@@ -97,6 +96,7 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	robotics/pb_type_drivebase.c \
 	robotics/pb_type_spikebase.c \
 	tools/pb_module_tools.c \
+	tools/pb_type_matrix.c \
 	tools/pb_type_stopwatch.c \
 	util_mp/pb_obj_helper.c \
 	util_mp/pb_type_enum.c \
diff --git a/bricks/cityhub/mpconfigport.h b/bricks/cityhub/mpconfigport.h
@@ -25,7 +25,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
-#define PYBRICKS_PY_GEOMETRY                    (1)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (1)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/debug/mpconfigport.h b/bricks/debug/mpconfigport.h
@@ -22,7 +22,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (0)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (0)
-#define PYBRICKS_PY_GEOMETRY                    (0)
 #define PYBRICKS_PY_HUBS                        (0)
 #define PYBRICKS_PY_IODEVICES                   (0)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/essentialhub/mpconfigport.h b/bricks/essentialhub/mpconfigport.h
@@ -26,7 +26,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
-#define PYBRICKS_PY_GEOMETRY                    (1)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (1)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/ev3dev/brickconfig.h b/bricks/ev3dev/brickconfig.h
@@ -30,7 +30,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM       (1)
 #define PYBRICKS_PY_EV3DEVICES          (1)
 #define PYBRICKS_PY_EXPERIMENTAL        (1)
-#define PYBRICKS_PY_GEOMETRY            (1)
 #define PYBRICKS_PY_HUBS                (1)
 #define PYBRICKS_PY_IODEVICES           (1)
 #define PYBRICKS_PY_MEDIA               (0)
diff --git a/bricks/ev3rt/mpconfigport.h b/bricks/ev3rt/mpconfigport.h
@@ -29,7 +29,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM       (0)
 #define PYBRICKS_PY_EV3DEVICES          (0)
 #define PYBRICKS_PY_EXPERIMENTAL        (0)
-#define PYBRICKS_PY_GEOMETRY            (1)
 #define PYBRICKS_PY_HUBS                (0)
 #define PYBRICKS_PY_IODEVICES           (0)
 #define PYBRICKS_PY_MEDIA               (0)
diff --git a/bricks/movehub/mpconfigport.h b/bricks/movehub/mpconfigport.h
@@ -23,7 +23,6 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EXPERIMENTAL                (0)
-#define PYBRICKS_PY_GEOMETRY                    (0)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (0)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/nxt/mpconfigport.h b/bricks/nxt/mpconfigport.h
@@ -27,7 +27,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (0)
-#define PYBRICKS_PY_GEOMETRY                    (0)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (0)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/primehub/mpconfigport.h b/bricks/primehub/mpconfigport.h
@@ -27,7 +27,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
-#define PYBRICKS_PY_GEOMETRY                    (1)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (1)
 #define PYBRICKS_PY_MEDIA                       (1)
diff --git a/bricks/technichub/mpconfigport.h b/bricks/technichub/mpconfigport.h
@@ -25,7 +25,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
-#define PYBRICKS_PY_GEOMETRY                    (1)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (1)
 #define PYBRICKS_PY_MEDIA                       (0)
diff --git a/bricks/virtualhub/mpconfigvariant.h b/bricks/virtualhub/mpconfigvariant.h
@@ -21,7 +21,6 @@
 #define PYBRICKS_PY_COMMON_SYSTEM       (1)
 #define PYBRICKS_PY_EV3DEVICES          (0)
 #define PYBRICKS_PY_EXPERIMENTAL        (1)
-#define PYBRICKS_PY_GEOMETRY            (1)
 #define PYBRICKS_PY_HUBS                (1)
 #define PYBRICKS_PY_IODEVICES           (1)
 #define PYBRICKS_PY_MEDIA               (1)
diff --git a/pybricks/common/pb_type_imu.c b/pybricks/common/pb_type_imu.c
@@ -16,7 +16,7 @@
 #include "py/obj.h"
 
 #include <pybricks/common.h>
-#include <pybricks/geometry.h>
+#include <pybricks/tools/pb_type_matrix.h>
 #include <pybricks/parameters.h>
 #include <pybricks/util_pb/pb_error.h>
 #include <pybricks/util_mp/pb_kwarg_helper.h>
diff --git a/pybricks/common/pb_type_lightmatrix.c b/pybricks/common/pb_type_lightmatrix.c
@@ -12,7 +12,7 @@
 #include "py/objstr.h"
 
 #include <pybricks/common.h>
-#include <pybricks/geometry.h>
+#include <pybricks/tools/pb_type_matrix.h>
 #include <pybricks/parameters.h>
 
 #include <pybricks/util_pb/pb_error.h>
diff --git a/pybricks/geometry/pb_module_geometry.c b/pybricks/geometry/pb_module_geometry.c
diff --git a/pybricks/hubs/pb_type_essentialhub.c b/pybricks/hubs/pb_type_essentialhub.c
@@ -21,7 +21,7 @@
 #include <pybricks/util_mp/pb_obj_helper.h>
 
 #include <pybricks/common.h>
-#include <pybricks/geometry.h>
+#include <pybricks/tools/pb_type_matrix.h>
 #include <pybricks/hubs.h>
 
 typedef struct _hubs_EssentialHub_obj_t {
@@ -40,8 +40,8 @@ static const pb_obj_enum_member_t *essentialhub_buttons[] = {
 
 STATIC mp_obj_t hubs_EssentialHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
-        PB_ARG_DEFAULT_OBJ(top_side, pb_Axis_Z_obj),
-        PB_ARG_DEFAULT_OBJ(front_side, pb_Axis_X_obj));
+        PB_ARG_DEFAULT_OBJ(top_side, pb_type_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_type_Axis_X_obj));
 
     hubs_EssentialHub_obj_t *self = mp_obj_malloc(hubs_EssentialHub_obj_t, type);
     self->battery = MP_OBJ_FROM_PTR(&pb_module_battery);
diff --git a/pybricks/hubs/pb_type_primehub.c b/pybricks/hubs/pb_type_primehub.c
@@ -21,7 +21,7 @@
 #include <pybricks/util_mp/pb_kwarg_helper.h>
 
 #include <pybricks/common.h>
-#include <pybricks/geometry.h>
+#include <pybricks/tools/pb_type_matrix.h>
 #include <pybricks/hubs.h>
 
 typedef struct _hubs_PrimeHub_obj_t {
@@ -45,8 +45,8 @@ static const pb_obj_enum_member_t *primehub_buttons[] = {
 
 STATIC mp_obj_t hubs_PrimeHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
-        PB_ARG_DEFAULT_OBJ(top_side, pb_Axis_Z_obj),
-        PB_ARG_DEFAULT_OBJ(front_side, pb_Axis_X_obj));
+        PB_ARG_DEFAULT_OBJ(top_side, pb_type_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_type_Axis_X_obj));
 
     hubs_PrimeHub_obj_t *self = mp_obj_malloc(hubs_PrimeHub_obj_t, type);
     self->battery = MP_OBJ_FROM_PTR(&pb_module_battery);
diff --git a/pybricks/hubs/pb_type_technichub.c b/pybricks/hubs/pb_type_technichub.c
@@ -12,7 +12,7 @@
 #include <pybricks/util_mp/pb_obj_helper.h>
 
 #include <pybricks/common.h>
-#include <pybricks/geometry.h>
+#include <pybricks/tools/pb_type_matrix.h>
 #include <pybricks/hubs.h>
 
 typedef struct _hubs_TechnicHub_obj_t {
@@ -30,8 +30,8 @@ static const pb_obj_enum_member_t *technichub_buttons[] = {
 
 STATIC mp_obj_t hubs_TechnicHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
-        PB_ARG_DEFAULT_OBJ(top_side, pb_Axis_Z_obj),
-        PB_ARG_DEFAULT_OBJ(front_side, pb_Axis_X_obj));
+        PB_ARG_DEFAULT_OBJ(top_side, pb_type_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_type_Axis_X_obj));
 
     hubs_TechnicHub_obj_t *self = mp_obj_malloc(hubs_TechnicHub_obj_t, type);
     self->battery = MP_OBJ_FROM_PTR(&pb_module_battery);
diff --git a/pybricks/parameters.h b/pybricks/parameters.h
@@ -13,6 +13,14 @@
 #include "py/obj.h"
 
 #include <pybricks/util_mp/pb_type_enum.h>
+#include <pybricks/tools/pb_type_matrix.h>
+
+#if MICROPY_PY_BUILTINS_FLOAT
+extern const mp_obj_type_t pb_enum_type_Axis;
+extern const pb_type_Matrix_obj_t pb_type_Axis_X_obj;
+extern const pb_type_Matrix_obj_t pb_type_Axis_Y_obj;
+extern const pb_type_Matrix_obj_t pb_type_Axis_Z_obj;
+#endif // MICROPY_PY_BUILTINS_FLOAT
 
 #if PYBRICKS_PY_PARAMETERS_BUTTON
 
diff --git a/pybricks/parameters/pb_module_parameters.c b/pybricks/parameters/pb_module_parameters.c
@@ -9,6 +9,9 @@
 
 STATIC const mp_rom_map_elem_t parameters_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__),    MP_ROM_QSTR(MP_QSTR_parameters)     },
+    #if MICROPY_PY_BUILTINS_FLOAT
+    { MP_ROM_QSTR(MP_QSTR_Axis),        MP_ROM_PTR(&pb_enum_type_Axis)      },
+    #endif
     #if PYBRICKS_PY_PARAMETERS_BUTTON
     { MP_ROM_QSTR(MP_QSTR_Button),      MP_ROM_PTR(&pb_enum_type_Button)    },
     #endif
diff --git a/pybricks/parameters/pb_type_axis.c b/pybricks/parameters/pb_type_axis.c
diff --git a/pybricks/parameters/pb_type_icon.c b/pybricks/parameters/pb_type_icon.c
diff --git a/pybricks/tools/pb_module_tools.c b/pybricks/tools/pb_module_tools.c
diff --git a/pybricks/tools/pb_type_matrix.c b/pybricks/tools/pb_type_matrix.c
diff --git a/pybricks/tools/pb_type_matrix.h b/pybricks/tools/pb_type_matrix.h
diff --git a/tests/ev3dev/tools/matrix.py b/tests/ev3dev/tools/matrix.py
diff --git a/tests/ev3dev/tools/matrix.py.exp b/tests/ev3dev/tools/matrix.py.exp
