:mod:`reachy.io.ws`
===================

.. py:module:: reachy.io.ws

.. autoapi-nested-parse::

   WebSocket IO definition.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.io.ws.WsIO
   reachy.io.ws.WsMotor
   reachy.io.ws.WsFakeOrbitaDisk
   reachy.io.ws.WsFakeForceSensor
   reachy.io.ws.WsDualCamera
   reachy.io.ws.WsServer
   reachy.io.ws.FakeFan




.. class:: WsIO(part_name)


   Bases: :py:obj:`reachy.io.io.IO`

   WebSocket IO implementation.

   .. attribute:: ws
      

      

   .. method:: shared_server(cls, part_name)
      :classmethod:

      Create a new io with its ws server.


   .. method:: find_module(self, module_name)

      Get a specific module from the IO.

      For the moment no module are really implemented. Only placeholders for code compatibility are provided.


   .. method:: find_dxl(self, dxl_name, dxl_config)

      Get a specific dynamixel motor from the IO.

      Only goal position is used atm.


   .. method:: find_fan(self, fan_name)

      Get a specific fan from its name.


   .. method:: find_orbita_disks(self)

      Get a specific orbita module from the IO.

      Not currently supported.


   .. method:: find_camera(self, index)

      Retrieve a dual camera.


   .. method:: close(self)

      Close the WS.



.. class:: WsMotor(name, initial_position)


   Bases: :py:obj:`object`

   Motor Placeholder.

   Only the goal position (ie. target_rot_position) is currently used.


.. class:: WsFakeOrbitaDisk(name, initial_position)


   Bases: :py:obj:`object`

   Orbital disk placeholder.

   .. method:: __repr__(self) -> str

      Public Orbita disk string representation.


   .. method:: setup(self)

      Initialize the disk.


   .. method:: rot_position(self)
      :property:

      Get the current disk angle position (in deg.).


   .. method:: temperature(self)
      :property:

      Get the current temperature in C.


   .. method:: target_rot_position(self)
      :property:

      Get the current target angle position (in deg.).



.. class:: WsFakeForceSensor


   Bases: :py:obj:`object`

   Force Sensor placeholder.

   Always return a nan as force.


.. class:: WsDualCamera(side)


   Bases: :py:obj:`object`

   Remote Camera.

   .. method:: read(self)

      Get latest received frame.


   .. method:: close(self)

      Close the camera.



.. class:: WsServer(host='0.0.0.0', port=6171)


   Bases: :py:obj:`object`

   WebSocket server, sync value from the modules with their equivalent from the client.

   .. method:: sync(self, websocket, path)
      :async:

      Sync loop that exchange modules state with the client.


   .. method:: close(self)

      Stop the sync loop.


   .. method:: register(self, io)

      Register a new io (and its module) to be synced.


   .. method:: run_forever(self)

      Run the sync loop forever.


   .. method:: run_in_background(self)

      Run the sync loop forever in background.



.. class:: FakeFan

   Bases: :py:obj:`object`

   Fake fan module for API consistensy.

   .. method:: on(self)

      Do nothing.


   .. method:: off(self)

      Do nothing.