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        "author": "Radek Szamrej",
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        "description": "# rstoys\n\nCross platform lightweight python library to help creating interactive real-time, remote controlled toys (typically based on Raspberry Pi). Library provides set of independent reusable modules described below.\n\nSource code can be found at [https://github.com/rstgh/rstoys](https://github.com/rstgh/rstoys)\n\nPlease use pip to install this package:\n\n```sh\npip install rstoys\npip install flask # if you plan to use rstoys.touchy\npip install arcade # if you plan to use rstoys.maps\n```\n\n## rstoys.realtime\n\nRealtime module provides some functions related to realtime main loop processing functionality.\nAll time or interval values are expressed in `seconds`.\n\n### `realtime.loop(callback, update_interval=0.020)`\n\nthis function enters an infinite loop calling your `callback` function with two parameters `(elapsed_time, delta_time)` at specified update_interval.\n\n- `elapsed_time` - is an absolute elapsed time in seconds starting with 0 at the beginning\n- `delta_time` - is a delta time in seconds since last execution of your callback function, can be used to scale your robot actions to make it more cpu load independent.\n\nIt is an equivalent of:\n\n```python\nwhile True:\n    callback(elapsed_time, delta_time)\n    sleep(update_interval)\n```\n\nUsing the realtime.loop() has an advantage that it dynamically adjusts the sleep time to compensate for the time spent in your callback, trying to provide as stable `callback` calling interval as possible.\n\nSo far the only way to exit this loop is by pressing `CTRL+C`.\n\nExample usage:\n\n```python\nfrom rstoys import realtime\n\ndef update(elapsed_time, delta_time):\n    print(\"elapsed=%08.3fs | dt=%06.3fms\" % (elapsed_time, delta_time * 1000))\n\n# initialize my hardware here\n\n# enter the loop that calls update function every 100ms\nrealtime.loop(update, 0.1)\n```\n\n### `realtime.Interval(interval = 1.0)`\n\nSimplifies periodic execution with given interval.\n\nUsage:\n\n```python\nfrom rstoys import realtime\n\nevery1s = realtime.Interval(1.0)\nevery3s = realtime.Interval(3.0)\n\ndef update(elapsed_time, delta_time):\n\n    print(\"Every 100ms\")\n\n    if every1s.should(delta_time):\n        print(\"Once per second\")\n\n    if every3s.should(delta_time):\n        print(\"Once every 3 seconds\")\n\n\nrealtime.loop(update, 0.1)\n```  \n\n### `realtime.Mapper(value)`\n\nProvides fluent interface to map given input value via following methods, all methods are symmetrical for negative values.\n\n`.copy()` # creates a copied instance\n\n`.value()` # returns final value\n\n`.add(o = 0.0)` # value = value + o\n\n`.mul(s = 1.0)` # value = value * s\n\n`.trim(min = -1.0, max = -1.0)` # trims a value into given min max range\n\n`.exp(e = math.e)` # value = e ^ value\n\n`.pow(p = 1.0)` # value = value ^ p\n\n`.gap(g = 0.0)` # returns value if value <= -g or value >= g else 0.0\n\n`.gaplin(g = 0.0, m = 1.0)` # similar to gap, but then over g interpolates linearly from 0 to m\n\n\n## rstoys.touchy\n\nThis module provides a mobile friendly web interface with basic touch stick controller for (x, y) values that can be easily read in your python code for controlling your robot.\n\n### `touchy.start_server(port=80)`\n\nStarts simple flask webserver instance on a given port that is running in a separate thread this webserver can be reached:\n\nLocally `http://127.0.0.1:<port>/` or remotely by using your IP address of the RPi instead of 127.0.0.1\n\n### `touchy.stop_server()`\n\nStops touchy webserver and terminates its thread.\n\n### `(x, y) = touchy.controller.getStick()`\n\nThis function returns (x, y) tupple representing touch stick controller position.\nvalues are in range of `[-1...0...1]`.\n\nExample code:\n\n```python\nfrom rstoys import touchy\nfrom rstoys import realtime\n\ndef update(elapsed_time, delta_time):\n    (x, y) = touchy.controller.getStick()\n    print(\"elapsed=%08.3fs | dt=%06.3fms | X=%6.3f | Y=%6.3f\" % (elapsed_time, delta_time * 1000, x, y))\n\ntouchy.start_server(port=5000)\nrealtime.loop(update)\ntouchy.stop_server()\n```\n... then open `http://<YOUR-IP-ADDRESS>:5000/` in your mobile browser and move the on-screen stick to see the changes.\n\n## rstoys.geo\n\nThis module provides simple geo location related functionality to help building location aware navigation based on bearing adjustments. It properly calculates absolute bearing between two geo locations, provides correct `average_bearing()` method as well as simple `WebMercatorProjection` implementation. \n\nPlease check out [example-geo.py](https://github.com/rstgh/rstoys/blob/master/example-geo.py) file for more usage examples.  \n\n### `geo.LatLon(lat, lon)`\n\ngeo location point with latitude and longitude\n\n```python\nmunich = geo.LatLon(48.133333, 11.566667)\n# accepts also lat lon as string comma separated\nmunich = geo.LatLon('48.133333,11.566667')\n```\n\n\n## rstoys.maps\n\nProvides basic open-maps window rendering using arcade framework to provide visualization of geo data.\n\nPlease check out [example-maps-sailing.py](https://github.com/rstgh/rstoys/blob/master/example-maps-sailing.py) file for some usage examples.  \n\n\n### Development\n\nWant to contribute? Just send me an e-mail: `rstechnology@gmail.com`\n\n## License\n\nMIT\n\nUse at your own risk and have fun.\n\n\n",
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