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hardware

CanOpenMasterHardware 

CanOpenMasterHardware(
    robot_brain: RobotBrain,
    *,
    can: CanHardware,
    name: str = "master",
    sync_interval: int = 5
)

Bases: ModuleHardware

RoSys module to control the CANOpen master Lizard module.

ConnectionStatus

Bases: Enum

Connection status of the Teltonika router.

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.

DeviceInfo dataclass 

DeviceInfo(
    *,
    firmware_version: str | None = None,
    model: str | None = None,
    serial: str | None = None
)

Router device information.

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.

Flashlight 

Flashlight(**kwargs)

Bases: Module, ABC

Base class for flashlight modules with on/off and duty cycle control.

set_duty_cycle async 

set_duty_cycle(duty_cycle: float) -> None

Set the duty cycle of the flashlight.

:param duty_cycle: float between 0 and 1 :raises ValueError: if duty cycle is not between 0 and 1

FlashlightHardware 

FlashlightHardware(
    config: FlashlightConfiguration,
    robot_brain: RobotBrain,
    *,
    expander: ExpanderHardware | None
)

Bases: Flashlight, ModuleHardware, SafetyMixin

Flashlight hardware implementation using PWM outputs.

set_duty_cycle async 

set_duty_cycle(duty_cycle: float) -> None

Set the duty cycle of the flashlight if the robot brain is ready.

turn_off async 

turn_off() -> None

Turn off the flashlight if the robot brain is ready.

turn_on async 

turn_on() -> None

Turn on the flashlight if the robot brain is ready.

FlashlightHardwareMosfet 

FlashlightHardwareMosfet(
    config: FlashlightMosfetConfiguration,
    robot_brain: RobotBrain,
    bms: Bms,
    *,
    expander: ExpanderHardware | None
)

Bases: Flashlight, ModuleHardware, SafetyMixin

Flashlight hardware implementation using a MOSFET switch.

Deprecated: only used on U4. Not built into any new robot; do not extend.

FlashlightSimulation 

FlashlightSimulation(**kwargs)

Bases: Flashlight, ModuleSimulation

Simulated flashlight for testing.

Headlights 

Headlights(config: HeadlightsConfiguration, **kwargs)

Bases: Module, ABC

Base class for headlights modules with on/off and duty cycle control.

set_duty_cycles async 

set_duty_cycles(
    left_duty_cycle: float, right_duty_cycle: float
) -> None

Set the duty cycles of the headlights.

:param left_duty_cycle: float between 0 and 1 :param right_duty_cycle: float between 0 and 1 :raises ValueError: if duty cycle is not between 0 and 1

set_left_duty_cycle async 

set_left_duty_cycle(duty_cycle: float) -> None

Set the duty cycle of the left headlight.

:param duty_cycle: float between 0 and 1 :raises ValueError: if duty cycle is not between 0 and 1

set_right_duty_cycle async 

set_right_duty_cycle(duty_cycle: float) -> None

Set the duty cycle of the right headlight.

:param duty_cycle: float between 0 and 1 :raises ValueError: if duty cycle is not between 0 and 1

HeadlightsHardware 

HeadlightsHardware(
    config: HeadlightsConfiguration,
    robot_brain: RobotBrain,
    *,
    expander: ExpanderHardware | None
)

Bases: Headlights, ModuleHardware

Headlights hardware implementation using PWM outputs.

set_duty_cycles async 

set_duty_cycles(
    left_duty_cycle: float, right_duty_cycle: float
) -> None

Set the duty cycle of the headlights if the robot brain is ready.

turn_off async 

turn_off() -> None

Turn off the headlights if the robot brain is ready.

turn_on async 

turn_on() -> None

Turn on the headlights if the robot brain is ready.

HeadlightsSimulation 

HeadlightsSimulation(
    config: HeadlightsConfiguration, **kwargs
)

Bases: Headlights, ModuleSimulation

Simulated headlights for testing.

ModemStatus dataclass 

ModemStatus(
    *,
    rssi: int | None = None,
    rsrp: int | None = None,
    sinr: int | None = None,
    rsrq: int | None = None,
    operator: str | None = None,
    network_type: str | None = None,
    connection_state: str | None = None,
    temperature: int | None = None
)

Cellular modem signal quality and connection info.

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.

ODriveTracksHardware 

ODriveTracksHardware(
    config: ODriveTracksConfiguration,
    robot_brain: RobotBrain,
    estop: EStopHardware,
    *,
    can: CanHardware
)

Bases: TracksHardware

Tracked wheels driven by ODrive motors (four motors: front/back, left/right).

Attributes & Properties

Name Type Description
linear_acceleration float The maximum linear acceleration rate.
linear_deceleration float The maximum linear deceleration rate.

Safety 

Safety(
    *,
    wheels: Wheels,
    estop: EStop,
    bumper: Bumper | None = None,
    modules: list[SafetyMixin] | None = None
)

Bases: ABC

Coordinates safety behavior across wheels, estop, bumper, and registered modules.

Modules implementing SafetyMixin can be registered via add_module() to have their enable/disable code automatically called when the safety state changes.

add_module 

add_module(module: SafetyMixin) -> None

Register a module to be enabled/disabled with the safety system.

SafetyHardware 

SafetyHardware(robot_brain: RobotBrain, **kwargs)

Bases: Safety, ModuleHardware

Generates Lizard code for hardware safety with automatic enable/disable behavior.

The generated code creates enable() and disable() functions that control wheels and all registered SafetyMixin modules. State transitions:

  • E-stop or bumper triggered → disable() called
  • E-stop and bumper released while disabled → enable() called
  • No messages for 1s → wheels stop
  • No messages for 20s → full disable (watchdog)

SafetyMixin

Bases: ABC

Mixin for modules that integrate with the safety system.

Implement enable_code and disable_code to return Lizard code snippets that get injected into the safety module's enable() and disable() functions.

SafetySimulation 

SafetySimulation(
    *,
    wheels: Wheels,
    estop: EStop,
    bumper: Bumper | None = None,
    modules: list[SafetyMixin] | None = None
)

Bases: Safety, ModuleSimulation

Simulated safety module for testing.

StatusControlHardware 

StatusControlHardware(
    robot_brain: RobotBrain,
    *,
    expander: ExpanderHardware,
    rdyp_pin: int = 39,
    vdp_pin: int = 39
)

Bases: ModuleHardware

Reads the status of the robot's power distribution.

TeltonikaRouter 

TeltonikaRouter(url: str, admin_password: str)

Implements the API of the builtin Teltonika RUT901 router.

_classify_interface classmethod 

_classify_interface(key: str) -> ConnectionStatus | None

Map an mwan3 failover interface key to its connection type (None if unknown).

_ensure_token async 

_ensure_token() -> bool

Refresh the auth token if expired. Returns True if a valid token is available.

_get async 

_get(endpoint: str) -> dict | list | None

Perform an authenticated GET request. Returns parsed JSON data or None.

_normalize_interface_list staticmethod 

_normalize_interface_list(data: dict | list) -> list[dict]

Convert a dict-keyed or list response into a flat list of interface dicts.

_parse_wifi_client staticmethod 

_parse_wifi_client(entry: dict) -> WifiClientNetwork

Build a WifiClientNetwork from a raw MultiAP candidate config entry.

Reads the enable state from RutOS's enabled field but falls back to the inverse of the underlying UCI disabled flag when only that is present.

:param entry: one raw entry from the MultiAP config response. :return: the parsed candidate network.

_post async 

_post(endpoint: str, *, json: dict | None = None) -> bool

Perform an authenticated POST request. Returns True on success.

_reject_redirect staticmethod 

_reject_redirect(response: Response) -> None

Reject an unfollowed redirect: we talk HTTPS to the router directly, so a 3xx is unexpected and would otherwise slip through raise_for_status (which ignores 3xx) as a bodyless success.

_request async 

_request(
    method: Literal["GET", "POST", "PUT", "DELETE"],
    endpoint: str,
    *,
    json: dict | None = None
) -> httpx.Response | None

Perform an authenticated request, refreshing the token if needed.

add_wifi_client_network async 

add_wifi_client_network(
    ssid: str, password: str, *, enabled: bool = False
) -> bool

Add a MultiAP candidate network, appended with the next free priority.

Refreshes the list on success.

:param ssid: the network name to join. :param password: the pre-shared key. :param enabled: whether the entry is active right after creation (default False). :return: True if the router accepted the new network, False on failure.

check_dns async 

check_dns(
    hostnames: Iterable[str] = DNS_CHECK_HOSTNAMES,
    timeout: float = 2.0,
) -> bool

Check DNS resolution by resolving hostnames concurrently.

check_internet async 

check_internet(
    hosts: Iterable[str] = INTERNET_CHECK_HOSTS,
    port: int = 53,
    timeout: float = 2.0,
) -> bool

Check raw IP connectivity by probing hosts concurrently on port.

reboot async 

reboot() -> bool

Send a reboot command to the router. Returns True on success.

refresh_wifi_client_networks async 

refresh_wifi_client_networks() -> None

Reload the MultiAP candidate networks from the router and emit WIFI_NETWORKS_CHANGED.

remove_wifi_client_network async 

remove_wifi_client_network(network_id: str) -> bool

Delete a MultiAP candidate network by its config id, refreshing the list on success.

set_wifi_client_enabled async 

set_wifi_client_enabled(
    network_id: str, enabled: bool
) -> bool

Enable or disable a MultiAP candidate network by its config id, refreshing the list on success.

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.

TracksHardware 

TracksHardware(
    config: TracksConfiguration,
    robot_brain: RobotBrain,
    *,
    lizard_code: str,
    core_message_fields: list[str]
)

Bases: Wheels, ModuleHardware

Base class for Feldfreund tracked wheels.

Attributes & Properties

Name Type Description
linear_acceleration float The maximum linear acceleration rate.
linear_deceleration float The maximum linear deceleration rate.

TracksSimulation 

TracksSimulation(
    width: float = 0.5,
    *,
    linear_acceleration: float = 2.0,
    linear_deceleration: float = 0.5
)

Bases: WheelsSimulation

Simulated tracks with acceleration and deceleration handling.

Attributes & Properties

Name Type Description
linear_acceleration float The maximum linear acceleration rate.
linear_deceleration float The maximum linear deceleration rate.
angular_acceleration float Calculated angular acceleration from linear acceleration using differential drive kinematics.
angular_deceleration float Calculated angular deceleration from linear deceleration using differential drive kinematics.

WifiClientNetwork dataclass 

WifiClientNetwork(
    *,
    id: str,
    ssid: str,
    enabled: bool,
    priority: int | None = None
)

A MultiAP candidate network the router can join as a client (one entry of the AP list).

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.

WifiInfo dataclass 

WifiInfo(
    *,
    ap_ssid: str | None = None,
    ap_clients: int | None = None,
    sta_ssid: str | None = None,
    sta_signal: int | None = None
)

WiFi interface status.

Events

Name Description
CONNECTION_CHANGED Emitted when the connection status changes.
INFO_UPDATED Emitted after modem, WiFi, and device info have been polled.
WIFI_NETWORKS_CHANGED Emitted after the upstream WiFi client network list has been refreshed.