PetoiBittle

is_bittle_port(port; timeout = 5)

Checks if the port responds with Start and Bittle upon connection. Only waits for timeout seconds for the responses. Returns true/false.

See also: find_bittle_port

find_bittle_port(; individual_port_timeout = 5, verbose = true)

Scan all ports and find the one that returns true when calling is_bittle_port. Passes individual_port_timeout as timeout to is_bittle_port. If verbose=true (default) prints info messages to track scanning progress. If no port Bittle is found, throws an error.

See also: is_bittle_port

Connection

A connection to Petoi Bittle robot. Use PetoiBittle.connect to open a connection.

connect(port::String; [timeout = 5])

Open a PetoiBittle.Connection at a specified port. Try for no longer than timeout. The port must be manually PetoiBittle.disconnect-ed when unneeded. The timeout is also being used to set read and write timeouts.

See PetoiBittle.is_bittle_port and PetoiBittle.find_bittle_port.

disconnect(connection::Connection)

Disconnects the connection.

See also: PetoiBittle.Connection, PetoiBittle.connect

parse_number(::Type{T}, bytes)

Parse decimal representation of a number of type T from bytes. Stops at non-digits characters, with the exception of - and ..

julia> PetoiBittle.parse_number(Int, [ 0x34, 0x32 ])
42

julia> PetoiBittle.parse_number(Float64, [ 0x2d, 0x30, 0x2e, 0x35 ])
-0.5

parse_number(bytes)

Short-hand for parse_number(Float64, bytes).

parse_number(::Type{T}, bytes, firstindex, lastindex)

Parse decimal representation of a number of type T from bytes between firstindex and lastindex. The firstindex and lastindex should be valid indices of bytes. Stops at non-digits characters, with the exception of - and ..

Returns (result, nextindex), where result is the actual parsed number and nextindex is either:

• an index next to a non-digit character or;
• lastindex + 1

julia> PetoiBittle.parse_number(Float64, [ 0x34, 0x32 ], 1, 1)
(4.0, 2)

julia> PetoiBittle.parse_number(Float64, [ 0x34, 0x32 ], 1, 2)
(42.0, 3)

serialize_to_bytes!(bytes, number::Int, startidx)

Write the number digit by digit to bytes starting at startidx. Negative number start with the - character (0x2d, see PetoiBittle.Constants) Returns the modified bytes and the next to last modified index.

serialize_to_bytes!(bytes, spec::MoveJointSpec, startidx)

Write the spec to bytes starting at startidx. Returns the modified bytes and the next to last modified index.

julia> PetoiBittle.serialize_to_bytes!(zeros(UInt8, 4), PetoiBittle.MoveJointSpec(7, 0), 1)
(UInt8[0x37, 0x20, 0x30, 0x00], 4)

serialize_to_bytes!(bytes, task::MoveJoints, startidx)

Write the task to bytes starting at startidx. The MoveJoints task always starts with the I character. Returns the modified bytes and the next to last modified index.

julia> PetoiBittle.serialize_to_bytes!(zeros(UInt8, 16), PetoiBittle.MoveJoints((id = 1, angle = 10), (id = 3, angle = -10)), 1)
(UInt8[0x69, 0x31, 0x20, 0x31, 0x30, 0x20, 0x33, 0x20, 0x2d, 0x31, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00], 12)

DigitsIterator

A special iterator that iterates over digits of a number Int without allocating an intermediate array. Use the PetoiBittle.iterate_digits function to create the iterator.

julia> PetoiBittle.iterate_digits(123) |> collect
3-element Vector{Int64}:
 1
 2
 3

julia> reduce(+, PetoiBittle.iterate_digits(123))
6

iterate_digits(number::Int)

Creates PetoiBittle.DigitsIterator from number. Use this to iterate through digits of the number without allocating intermediate array.

julia> PetoiBittle.iterate_digits(123) |> collect
3-element Vector{Int64}:
 1
 2
 3

julia> reduce(+, PetoiBittle.iterate_digits(123))
6

A sub-module of PetoiBittle containing some useful constants Constants are united in their respective namespaces.

The available namespaces are:

• char: a list of character codes in UInt8
  • tab: UInt8 code of the tab character '\t'
  • newline: UInt8 code of the newline character '\n'
  • caret: UInt8 code of the caret character '\r'
  • zero: UInt8 code of the zero character '0' (a digit)
  • one: UInt8 code of the one character '1' (a digit)
  • two: UInt8 code of the two character '2' (a digit)
  • three: UInt8 code of the three character '3' (a digit)
  • four: UInt8 code of the four character '4' (a digit)
  • five: UInt8 code of the five character '5' (a digit)
  • six: UInt8 code of the six character '6' (a digit)
  • seven: UInt8 code of the seven character '7' (a digit)
  • eight: UInt8 code of the eight character '8' (a digit)
  • nine: UInt8 code of the nine character '9' (a digit)
  • null: UInt8 code of the null character '\0' (a terminator)
  • dot: UInt8 code of the dot character '.'
  • minus: UInt8 code of the minus character '-'
  • space: UInt8 code of the space character ' '

julia> PetoiBittle.Constants.char.tab
0x09