pycozmo.conn

Cozmo protocol low-level client and server connection.

Classes

Connection(robot_addr, int]] = None, …)	Cozmo protocol low-level connection implementing bot client and server sides.
ReceiveThread(sock, send_thread, …)	Cozmo protocol connection receive thread.
SendThread(sock, receiver_address, int]])	Cozmo protocol connection send thread.

pycozmo.conn.ROBOT_ADDR = ('172.31.1.1', 5551)

Default robot address (IP, port).

class pycozmo.conn.ReceiveThread(sock: socket.socket, send_thread: pycozmo.conn.SendThread, sender_address: Optional[Tuple[str, int]], delivery_handler, buffer_size: int = 2048)

Bases: threading.Thread

Cozmo protocol connection receive thread.

daemon

A boolean value indicating whether this thread is a daemon thread.

This must be set before start() is called, otherwise RuntimeError is raised. Its initial value is inherited from the creating thread; the main thread is not a daemon thread and therefore all threads created in the main thread default to daemon = False.

The entire Python program exits when only daemon threads are left.

deliver(pkt: pycozmo.protocol_base.Packet)

deliver_sequence() → None

disconnect()

getName()

handle_fin()

handle_frame(frame: pycozmo.frame.Frame) → None

handle_pkt(pkt: pycozmo.protocol_base.Packet) → None

handle_reset(address)

ident

Thread identifier of this thread or None if it has not been started.

This is a nonzero integer. See the get_ident() function. Thread identifiers may be recycled when a thread exits and another thread is created. The identifier is available even after the thread has exited.

isAlive()

Return whether the thread is alive.

This method is deprecated, use is_alive() instead.

isDaemon()

is_alive()

Return whether the thread is alive.

This method returns True just before the run() method starts until just after the run() method terminates. The module function enumerate() returns a list of all alive threads.

join(timeout=None)

Wait until the thread terminates.

This blocks the calling thread until the thread whose join() method is called terminates – either normally or through an unhandled exception or until the optional timeout occurs.

When the timeout argument is present and not None, it should be a floating point number specifying a timeout for the operation in seconds (or fractions thereof). As join() always returns None, you must call is_alive() after join() to decide whether a timeout happened – if the thread is still alive, the join() call timed out.

When the timeout argument is not present or None, the operation will block until the thread terminates.

A thread can be join()ed many times.

join() raises a RuntimeError if an attempt is made to join the current thread as that would cause a deadlock. It is also an error to join() a thread before it has been started and attempts to do so raises the same exception.

name

A string used for identification purposes only.

It has no semantics. Multiple threads may be given the same name. The initial name is set by the constructor.

reset()

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

setDaemon(daemonic)

setName(name)

start()

Start the thread’s activity.

It must be called at most once per thread object. It arranges for the object’s run() method to be invoked in a separate thread of control.

This method will raise a RuntimeError if called more than once on the same thread object.

stop() → None

class pycozmo.conn.SendThread(sock: socket.socket, receiver_address: Optional[Tuple[str, int]])

Bases: threading.Thread

Cozmo protocol connection send thread.

ACK_TIMEOUT = 0.1

COLLECT_INTERVAL = 0.011111111111111112

ack(seq: int, last_ack: int) → None

daemon

A boolean value indicating whether this thread is a daemon thread.

This must be set before start() is called, otherwise RuntimeError is raised. Its initial value is inherited from the creating thread; the main thread is not a daemon thread and therefore all threads created in the main thread default to daemon = False.

The entire Python program exits when only daemon threads are left.

getName()

ident

Thread identifier of this thread or None if it has not been started.

This is a nonzero integer. See the get_ident() function. Thread identifiers may be recycled when a thread exits and another thread is created. The identifier is available even after the thread has exited.

isAlive()

Return whether the thread is alive.

This method is deprecated, use is_alive() instead.

isDaemon()

is_alive()

Return whether the thread is alive.

This method returns True just before the run() method starts until just after the run() method terminates. The module function enumerate() returns a list of all alive threads.

join(timeout=None)

Wait until the thread terminates.

This blocks the calling thread until the thread whose join() method is called terminates – either normally or through an unhandled exception or until the optional timeout occurs.

When the timeout argument is present and not None, it should be a floating point number specifying a timeout for the operation in seconds (or fractions thereof). As join() always returns None, you must call is_alive() after join() to decide whether a timeout happened – if the thread is still alive, the join() call timed out.

When the timeout argument is not present or None, the operation will block until the thread terminates.

A thread can be join()ed many times.

join() raises a RuntimeError if an attempt is made to join the current thread as that would cause a deadlock. It is also an error to join() a thread before it has been started and attempts to do so raises the same exception.

name

A string used for identification purposes only.

It has no semantics. Multiple threads may be given the same name. The initial name is set by the constructor.

reset() → None

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

send(data: Any) → None

setDaemon(daemonic)

setName(name)

start()

Start the thread’s activity.

It must be called at most once per thread object. It arranges for the object’s run() method to be invoked in a separate thread of control.

This method will raise a RuntimeError if called more than once on the same thread object.

stop() → None

class pycozmo.conn.Connection(robot_addr: Optional[Tuple[str, int]] = None, protocol_log_messages: Optional[list] = None, server: bool = False)

Bases: threading.Thread, pycozmo.event.Dispatcher

Cozmo protocol low-level connection implementing bot client and server sides.

CONNECTED = 3

CONNECTING = 2

IDLE = 1

PING_INTERVAL = 0.5

RUN_INTERVAL = 0.01

STATS_INTERVAL = 60.0

add_child_dispatcher(child)

add_handler(event, f, one_shot=False)

connect() → None

daemon

A boolean value indicating whether this thread is a daemon thread.

This must be set before start() is called, otherwise RuntimeError is raised. Its initial value is inherited from the creating thread; the main thread is not a daemon thread and therefore all threads created in the main thread default to daemon = False.

The entire Python program exits when only daemon threads are left.

del_all_handlers()

del_child_dispatcher(child)

del_handler(event, handler)

disconnect() → None

dispatch(event, *args, **kwargs)

getName()

ident

Thread identifier of this thread or None if it has not been started.

This is a nonzero integer. See the get_ident() function. Thread identifiers may be recycled when a thread exits and another thread is created. The identifier is available even after the thread has exited.

isAlive()

Return whether the thread is alive.

This method is deprecated, use is_alive() instead.

isDaemon()

is_alive()

Return whether the thread is alive.

This method returns True just before the run() method starts until just after the run() method terminates. The module function enumerate() returns a list of all alive threads.

join(timeout=None)

Wait until the thread terminates.

This blocks the calling thread until the thread whose join() method is called terminates – either normally or through an unhandled exception or until the optional timeout occurs.

When the timeout argument is present and not None, it should be a floating point number specifying a timeout for the operation in seconds (or fractions thereof). As join() always returns None, you must call is_alive() after join() to decide whether a timeout happened – if the thread is still alive, the join() call timed out.

When the timeout argument is not present or None, the operation will block until the thread terminates.

A thread can be join()ed many times.

join() raises a RuntimeError if an attempt is made to join the current thread as that would cause a deadlock. It is also an error to join() a thread before it has been started and attempts to do so raises the same exception.

log_stats()

name

A string used for identification purposes only.

It has no semantics. Multiple threads may be given the same name. The initial name is set by the constructor.

post_event(evt, *args, **kwargs) → None

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

send(pkt: pycozmo.protocol_base.Packet) → None

setDaemon(daemonic)

setName(name)

start() → None

Start the thread’s activity.

It must be called at most once per thread object. It arranges for the object’s run() method to be invoked in a separate thread of control.

This method will raise a RuntimeError if called more than once on the same thread object.

stop() → None

wait_for(evt, timeout: Optional[float] = None) → None