API base class

class mini.apis.base_api.MiniApiResultType(value)

Bases: enum.Enum

Api return result status type

Success: Received robot reply

Timeout: Reply to the robot received within the timeout period

Unsupported: The instruction is not supported

Success = 1

Timeout = 2

Unsupported = 3

class mini.apis.base_api.BaseApi

Bases: abc.ABC

Message api base class

async send(cmd_id: int, message, timeout: int) → Union[object, bool]

Send message method

Note: Called internally by subclass functions, subclass instances cannot be called.

Parameters

• cmd_id (int) – Supported command id, for example: mini.apis.cmdid.PLAY_ACTION_REQUEST

• message (Message) – Supported message entity, for example: mini.pb2.PlayActionRequest

• timeout (int) – timeout time. When timeout<=0, it means that there is no need to wait for the robot to reply.When timeout>0, it means that it needs to wait for the robot to reply.

Returns

If the instruction is not supported, return tuple(MiniApiResultType.Unsupported,None)

If the instruction is supported

When timeout<=0, bool is returned, indicating whether the message was sent successfully

When timeout>0

If the message times out or fails to be sent, tuple(MiniApiResultType.Timeout,None) is returned

If the message has a reply, it will return tuple(MiniApiResultType.Success,result), result is the corresponding reply message

async execute()

Send instructions

After serializing the supported message, write it to the socket Implemented by subclasses

class mini.apis.base_api.BaseApiNeedResponse

Bases: mini.apis.base_api.BaseApi, abc.ABC

The message api base class that needs to be replied, timeout cannot be empty

async send(cmd_id, data, timeout: int)

Override the parent method

Check timeout, must be >0

class mini.apis.base_api.BaseApiNoNeedResponse

Bases: mini.apis.base_api.BaseApi, abc.ABC

Message api base class without reply

async send(cmd_id, message, timeout: int = 0)

Override the parent method

Set timeout to 0

class mini.apis.base_api.BaseEventApi(cmd_id: int, message, is_repeat: bool = True, timeout: int = 0, handler: Optional[Callable[[...], None]] = None)

Bases: mini.apis.base_api.BaseApiNoNeedResponse, mini.channels.websocket_client.AbstractMsgHandler, abc.ABC

Event class message api base class

When the event handler is registered, the event message actively pushed by the robot

Parameters

• cmd_id (int) – registered instruction id

• message (Message) – the registration message sent to the robot

• is_repeat (bool) – Whether to repeat the monitoring, the default is True

• timeout (int) – timeout time, the default is 0

• handler (Callable) – event message handler, f(message)

set_handler(handler: Optional[Callable[[...], None]] = None)

Set up event message handler

Parameters

handler (Callable) – event message handler, f(message)

start()

Start the listener

stop()

Stop listener

The subclass needs to notify the robot to stop reporting the event

handle_msg(message)