Robot Reference

kevinbotlib.robot

kevinbotlib.robot.BaseRobot

__init__(opmodes, serve_port=6379, log_level=Level.INFO, print_level=Level.INFO, default_opmode=None, cycle_time=250, log_cleanup_timer=10.0, metrics_publish_timer=5.0, battery_publish_timer=0.1, robot_heartbeat_interval=1.0, robot_heartbeat_expiry=2.5, *, enable_stderr_logger=False, allow_enable_without_console=False)

Initialize the robot

Parameters:

Name	Type	Description	Default
opmodes	list[str]	List of operational mode names.	required
serve_port	int	Port for comm server. Shouldn't have to be changed in most cases. Defaults to 8765.	6379
log_level	Level	Level to logging. Defaults to Level.INFO.	INFO
print_level	Level	Level for print statement redirector. Defaults to Level.INFO.	INFO
enable_stderr_logger	bool	Enable logging to STDERR, may cause issues when using signal stop. Defaults to False.	False
default_opmode	str	Default Operational Mode to start in. Defaults to the first item of opmodes.	None
cycle_time	float	How fast to run periodic functions in Hz. Defaults to 250.	250
log_cleanup_timer	float	How often to clean up logs in seconds. Set to 0 to disable log cleanup. Defaults to 10.0.	10.0
metrics_publish_timer	float	How often to publish system metrics. This is separate from BaseRobot.add_basic_metrics() update_interval. Set to 0 to disable metrics publishing. Defaults to 5.0.	5.0
battery_publish_timer	float	How often to publish battery voltages. Set to 0 to disable battery publishing. Defaults to 0.1.	0.1
robot_heartbeat_interval	float	How often to send a heartbeat to the control console. Defaults to 1.0.	1.0
robot_heartbeat_expiry	float	How long the robot heartbeat will stay valid. Must be longer than robot_heartbeat_interval. Defaults to 2.0.	2.5
allow_enable_without_console	bool	Allow the robot to be enabled without an active control console. Defaults to False.	False

run()

Run the robot loop and parse command-line arguments. Method is final.

robot_start()

Run after the robot is initialized

robot_end()

Runs before the robot is requested to stop via service or keyboard interrupt

robot_periodic(opmode, enabled)

Periodically runs every robot cycle

Parameters:

Name	Type	Description	Default
opmode	str	The current OpMode	required
enabled	bool	WHether the robot is enabled in this opmode	required

opmode_init(opmode, enabled)

Runs when entering an opmode state (either enabled or disabled)

Parameters:

Name	Type	Description	Default
opmode	str	The OpMode being entered	required
enabled	bool	Whether the robot is enabled in this opmode	required

opmode_exit(opmode, enabled)

Runs when exiting an opmode state (either enabled or disabled)

Parameters:

Name	Type	Description	Default
opmode	str	The OpMode being exited	required
enabled	bool	Whether the robot was enabled in this opmode	required

estop()

Immediately trigger an emergency stop.

kevinbotlib.robot.InstanceLocker

Generate and release a lockfile for an entire application. Useful when trying to prevent multiple instances of an app.

Verifies if the application was killed without releasing the lockfile.

__init__(lockfile_name)

Initialize the InstanceLocker

Parameters:

Name	Type	Description	Default
lockfile_name	str	The name of the lockfile (e.g., 'robot.lock').	required

lock()

Attempt to acquire the lock by creating a lockfile with the current PID.

Returns:

Type	Description
bool	True if the lock was successfully acquired, False if another instance is running.

unlock()

Release the lock by removing the lockfile.

is_locked(lockfile_name) staticmethod

Check if the lockfile exists and corresponds to a running process.

Parameters:

Name	Type	Description	Default
lockfile_name	str	The name of the lockfile to check.	required

Returns:

Type	Description
int	-1 if not locked, PID of locking process