Simulator Reference
kevinbotlib.simulator
kevinbotlib.simulator.SimulationFramework
Robot Simulation Framework
robot = robot
instance-attribute
sim_process = None
instance-attribute
event_watcher = None
instance-attribute
sim_in_queue = multiprocessing.Queue()
instance-attribute
sim_out_queue = multiprocessing.Queue()
instance-attribute
windows
property
Get the currently activated WindowView IDs.
Returns:
| Type | Description |
|---|---|
list[str]
|
WindowView IDs. |
__init__(robot)
Initialize the simulation framework.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
robot
|
BaseRobot
|
Robot to simulate |
required |
launch_simulator(comm_client, ready_callback=None)
Start the simulator.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
comm_client
|
SetGetClientWithPubSub | None
|
Communication client used in simulations. |
required |
ready_callback
|
Callable[[], None] | None
|
Callback for when the simulator window is ready. |
None
|
exit_simulator()
Gracefully exit the simulator.
send_to_window(winid, payload)
Send a payload to a WindowView
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
winid
|
str
|
WindowView ID |
required |
payload
|
Any
|
Payload to send. |
required |
add_window(winid, window)
Add a new pre-registered WindowView to the simulator.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
winid
|
str
|
WindowView ID. ID must be registered by the @register_window_view decorator. |
required |
window
|
type[WindowView]
|
WindowView to add. |
required |
add_payload_callback(payload_type, callback)
Add a new callback for a payload exiting a WindowView.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
payload_type
|
type[T]
|
Customized subclass type of WindowViewOutputPayload. |
required |
callback
|
Callable[[T], None]
|
Callback function. |
required |
kevinbotlib.simulator.freeze_support()
kevinbotlib.simulator.windowview
kevinbotlib.simulator.windowview.WINDOW_VIEW_REGISTRY = {}
module-attribute
kevinbotlib.simulator.windowview.WindowView
Bases: QObject
Simulator Subwindow using PySide6 widgets.
title
property
Title for the WindowView.
Returns:
| Type | Description |
|---|---|
str
|
Title. |
generate()
Widget to display in the WindowView.
Returns:
| Type | Description |
|---|---|
QWidget
|
PySide6 QWidget. |
update(payload)
Update the widget with the given payload. To be manually implemented by the subclass.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
payload
|
Any
|
Payload from the main process. |
required |
send_payload(payload)
Function to send a custom payload into the main process.
Implemented at runtime. Do not override.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
payload
|
WindowViewOutputPayload
|
Customized subclass of WindowViewOutputPayload. |
required |
kevinbotlib.simulator.windowview.WindowViewOutputPayload
Bases: ABC
A payload from the WindowView to the main process.
payload()
abstractmethod
Payload content.
Returns:
| Type | Description |
|---|---|
Any
|
Payload. |
kevinbotlib.simulator.windowview.register_window_view(winid)
Register a WindowView subclass into the Simulation Framework.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
winid
|
str
|
WindowView ID. |
required |