pydoover Python Library

pydoover is the Python library for building applications on the Doover platform. It provides the Application framework, UI components, configuration schemas, hardware interfaces, and cloud connectivity.

Installation

pip install pydoover

Or with uv:

uv add pydoover

Package Structure

pydoover/
├── docker/           # Application framework
│   ├── application   # Base Application class
│   ├── device_agent/ # Cloud connectivity (Device Agent)
│   ├── platform/     # Hardware I/O interface
│   └── modbus/       # Modbus protocol interface
├── ui/               # UI components
├── config/           # Configuration schemas
├── state/            # State machine support
└── utils/            # Utility functions

Application Class

The Application class is the foundation for all Doover apps.

Basic Usage

from pydoover.docker import Application, run_app
from pydoover.config import Schema

class MyApp(Application):
    async def setup(self):
        """Called once at startup."""
        self.set_tag("ready", True)

    async def main_loop(self):
        """Called repeatedly."""
        value = self.get_di(0)
        self.set_tag("input", value)

if __name__ == "__main__":
    run_app(MyApp(config=Schema()))

Constructor

Application(
    config: Schema,                          # Configuration schema
    app_key: str = None,                     # Unique app identifier
    is_async: bool = None,                   # Force async mode
    device_agent: DeviceAgentInterface = None,
    platform_iface: PlatformInterface = None,
    modbus_iface: ModbusInterface = None,
    name: str = None,
    test_mode: bool = False,
    config_fp: str = None,                   # Config file path
    healthcheck_port: int = None,
)

Lifecycle Methods

Loop Control

class MyApp(Application):
    loop_target_period = 2  # Target 2 seconds between iterations

Key Attributes

Tag Methods

Tags provide key-value state persistence via the tag_values channel.

Setting Tags

# Set tag on this app
await self.set_tag("temperature", 25.5)
await self.set_tag("status", {"state": "running", "uptime": 3600})

# Set only if value changed (default behavior)
await self.set_tag("value", 100, only_if_changed=True)

# Set tag on another app
await self.set_tag("command", "start", app_key="other_app_key")

Getting Tags

# Get from this app
temp = self.get_tag("temperature", default=0.0)

# Get from another app
value = self.get_tag("sensor", app_key="sim_app_key", default=None)

Global Tags

# System-wide tags
await self.set_global_tag("system_status", "online")
status = self.get_global_tag("system_status", default="unknown")

Tag Subscriptions

def on_temperature_change(tag_key, value):
    print(f"Temperature changed to {value}")

self.subscribe_to_tag("temperature", on_temperature_change)

# Subscribe to another app's tag
self.subscribe_to_tag("sensor", callback, app_key="other_app")

# Subscribe to global tag
self.subscribe_to_tag("system_status", callback, global_tag=True)

Hardware Interface (Platform)

Access digital and analog I/O through platform_iface.

Digital I/O

# Read digital input
value = self.get_di(pin=0)
value = await self.platform_iface.get_di_async(pin=0)

# Read multiple pins
values = await self.platform_iface.get_di_async([0, 1, 2])
# Returns: {0: True, 1: False, 2: True}

# Write digital output
self.set_do(pin=4, value=True)
await self.platform_iface.set_do_async(pin=4, value=1)

# Schedule output change
await self.platform_iface.schedule_do(pin=4, value=False, delay_secs=5.0)

Analog I/O

# Read analog input
voltage = self.get_ai(pin=0)
voltage = await self.platform_iface.get_ai_async(pin=0)

# Write analog output
self.set_ao(pin=0, value=2.5)
await self.platform_iface.set_ao_async(pin=0, value=2.5)

# Schedule analog output
await self.platform_iface.schedule_ao(pin=0, value=5.0, delay_secs=10.0)

Pulse Counter

Count pulses on digital inputs (e.g., flow meters):

# Create pulse counter
counter = self.platform_iface.get_new_pulse_counter(
    pin=5,
    edge="rising",           # "rising", "falling", or "both"
    rate_window_secs=60,
    auto_start=True
)

# Set callback for pulses
def on_pulse(pin, di_value, dt_secs, count, edge):
    rate = count / dt_secs if dt_secs > 0 else 0
    print(f"Count: {count}, Rate: {rate}/sec")

counter.callback = on_pulse

# Access values
total_count = counter.count
timestamps = counter.pulse_timestamps

# Control
counter.start_listener_pulses()
counter.stop_listener_pulses()

Modbus Interface

Communicate via Modbus RTU/TCP through modbus_iface.

Reading Registers

# Read holding registers
values = self.read_modbus_registers(
    address=100,
    count=10,
    register_type="holding",
    modbus_id=1,
    bus_id="bus1"
)

# Async version
values = await self.modbus_iface.read_registers_async(
    start_address=100,
    num_registers=10,
    register_type="holding",
    modbus_id=1,
    bus_id="bus1"
)

Writing Registers

# Write holding registers
self.write_modbus_registers(
    address=200,
    values=[100, 200, 300],
    register_type="holding",
    modbus_id=1
)

# Async version
await self.modbus_iface.write_registers_async(
    start_address=200,
    values=[100, 200, 300],
    register_type="holding"
)

Register Types

Polling Subscriptions

def on_registers_read(values):
    print(f"Read values: {values}")

self.modbus_iface.add_read_register_subscription(
    start_address=100,
    num_registers=10,
    register_type="holding",
    poll_secs=5.0,
    callback=on_registers_read
)

Channel Methods

Publish and subscribe to channels directly.

Publishing

import json

# Publish to channel
await self.device_agent.publish_to_channel_async(
    "sensor_data",
    json.dumps({"temperature": 25.5}),
    max_age=300,        # Optional: max age in seconds
    record_log=True     # Optional: force logging
)

# Sync version
self.publish_to_channel("sensor_data", data)

Subscribing

def on_message(channel_name, data):
    print(f"Received on {channel_name}: {data}")

self.subscribe_to_channel("commands", on_message)

# Via device agent
self.device_agent.add_subscription("commands", on_message)

Getting Channel Data

# Get latest aggregate from channel
data = self.device_agent.get_channel_aggregate("sensor_data")

Configuration Schema

Define user-configurable parameters in pydoover.config.

Schema Class

from pydoover.config import Schema, Integer, String, Boolean, Number, Enum, Array, Object

class MyConfig(Schema):
    def __init__(self):
        self.pump_pin = Integer(
            "Pump Pin",
            default=0,
            minimum=0,
            maximum=31,
            description="Digital output pin for pump"
        )

        self.threshold = Number(
            "Threshold",
            default=25.0,
            minimum=0.0,
            maximum=100.0
        )

        self.enabled = Boolean(
            "Enabled",
            default=True
        )

        self.device_name = String(
            "Device Name",
            default="sensor-1",
            length=50,
            pattern=r"^[a-z0-9-]+$"
        )

        self.mode = Enum(
            "Mode",
            choices=["auto", "manual", "standby"],
            default="auto"
        )

Accessing Config Values

class MyApp(Application):
    async def main_loop(self):
        pin = self.config.pump_pin.value
        threshold = self.config.threshold.value
        enabled = self.config.enabled.value

Config Types

Integer

count = Integer(
    "Count",
    default=10,
    minimum=0,
    maximum=100,
    description="Number of items"
)

Number (float)

rate = Number(
    "Flow Rate",
    default=5.5,
    minimum=0.0,
    maximum=100.0
)

Boolean

enabled = Boolean(
    "Enable Feature",
    default=True
)

String

name = String(
    "Name",
    default="device",
    length=50,
    pattern=r"^[a-zA-Z0-9_-]+$"
)

DateTime

scheduled_time = DateTime(
    "Scheduled Time",
    description="When to run"
)

Enum

# List of choices
mode = Enum(
    "Mode",
    choices=["fast", "slow", "off"],
    default="slow"
)

# Python Enum
from enum import Enum as PyEnum

class Speed(PyEnum):
    FAST = "fast"
    SLOW = "slow"

speed = Enum("Speed", choices=Speed, default=Speed.SLOW)

Array

pins = Array(
    "Output Pins",
    element=Integer("Pin"),
    min_items=1,
    max_items=8,
    unique_items=True
)

# Accessing elements
for pin in self.config.pins.elements:
    value = pin.value

Object

device = Object("Device Settings")
device.add_elements(
    String("Host", default="localhost"),
    Integer("Port", default=502),
    Boolean("Enabled", default=True)
)

Special Config Types

Application (reference to another app)

logger_app = Application(
    "Logger App",
    description="App key of the data logger"
)

Device (reference to a device)

target = Device(
    "Target Device",
    description="Device to send commands to"
)

Exporting Schema

from pathlib import Path

def export():
    MyConfig().export(
        Path(__file__).parents[2] / "doover_config.json",
        "my_app"
    )

UI Components

UI elements in pydoover.ui for display and user interaction.

Variables (Display Values)

from pydoover import ui

# Numeric display
temperature = ui.NumericVariable(
    name="temperature",
    display_name="Temperature",
    precision=1,
    ranges=[
        ui.Range("Low", 0, 15, ui.Colour.blue),
        ui.Range("Normal", 15, 30, ui.Colour.green),
        ui.Range("High", 30, 50, ui.Colour.red),
    ]
)

# Update value
temperature.update(25.5)

# Text display
status = ui.TextVariable(
    name="status",
    display_name="Status"
)
status.update("Running")

# Boolean display
running = ui.BooleanVariable(
    name="running",
    display_name="Is Running"
)
running.update(True)

# DateTime display
last_update = ui.DateTimeVariable(
    name="updated",
    display_name="Last Update"
)
last_update.update(datetime.now())

Parameters (User Input)

# Numeric input
setpoint = ui.NumericParameter(
    name="setpoint",
    display_name="Setpoint",
    min_val=0,
    max_val=100
)

# Text input
message = ui.TextParameter(
    name="message",
    display_name="Message",
    is_text_area=False
)

# Multi-line text
notes = ui.TextParameter(
    name="notes",
    display_name="Notes",
    is_text_area=True
)

# DateTime picker
schedule = ui.DateTimeParameter(
    name="schedule",
    display_name="Schedule Time",
    include_time=True
)

Actions (Buttons)

start_btn = ui.Action(
    name="start",
    display_name="Start",
    colour=ui.Colour.green,
    requires_confirm=False
)

stop_btn = ui.Action(
    name="stop",
    display_name="Emergency Stop",
    colour=ui.Colour.red,
    requires_confirm=True
)

Slider

speed = ui.Slider(
    name="speed",
    display_name="Speed Control",
    min_val=0,
    max_val=100,
    step_size=5
)

# Dual slider for range selection
range_slider = ui.Slider(
    name="range",
    display_name="Value Range",
    min_val=0,
    max_val=100,
    dual_slider=True
)

StateCommand (Dropdown)

mode = ui.StateCommand(
    name="mode",
    display_name="Operating Mode",
    user_options=[
        ui.Option("auto", "Automatic"),
        ui.Option("manual", "Manual"),
        ui.Option("standby", "Standby")
    ]
)

WarningIndicator

warning = ui.WarningIndicator(
    name="low_battery",
    display_name="Low Battery",
    can_cancel=True
)

AlertStream

alerts = ui.AlertStream()

# Send alert
await alerts.send_alert("Battery critically low!")

Submodule (Grouping)

battery = ui.Submodule("battery", "Battery Status")
battery.add_children(
    ui.NumericVariable("voltage", "Voltage"),
    ui.NumericVariable("current", "Current"),
    ui.Action("charge", "Start Charging")
)

Colour Constants

ui.Colour.blue
ui.Colour.red
ui.Colour.green
ui.Colour.yellow
ui.Colour.orange
ui.Colour.purple
ui.Colour.grey
ui.Colour.limegreen
ui.Colour.tomato

# Custom colors
ui.Colour.from_hex("#FF5733")
ui.Colour.from_string("coral")

Range (for NumericVariable)

ui.Range(
    label="Normal",
    min_val=10,
    max_val=30,
    colour=ui.Colour.green,
    show_on_graph=True
)

Option (for StateCommand)

ui.Option(name="value", display_name="Display Text")

UI Decorators

Use decorators for cleaner UI callback handling.

@ui.callback

class MyApp(Application):
    async def setup(self):
        self.ui = MyUI()
        self.ui_manager.add_children(*self.ui.fetch())

    @ui.callback("start_button")
    async def on_start(self, new_value):
        await self.start_process()
        self.ui.start_button.coerce(None)

    @ui.callback(r"do_\d+_toggle")  # Regex pattern
    async def on_do_toggle(self, element, new_value):
        pin = int(element.name.split("_")[1])
        await self.set_do(pin, new_value)

@ui.action

class MyApp(Application):
    @ui.action("start", display_name="Start", colour=ui.Colour.green)
    async def start(self):
        await self.begin_operation()

@ui.slider

class MyApp(Application):
    @ui.slider("volume", display_name="Volume", min_val=0, max_val=100)
    async def on_volume(self, new_value):
        self.set_volume(new_value)

@ui.state_command

class MyApp(Application):
    @ui.state_command(
        "mode",
        display_name="Mode",
        user_options=[ui.Option("fast", "Fast"), ui.Option("slow", "Slow")]
    )
    async def on_mode(self, new_value):
        self.current_mode = new_value

State Machine

Async state machine built on the transitions library.

from pydoover.state import StateMachine

class MyState:
    states = [
        {"name": "off"},
        {"name": "starting", "timeout": 30, "on_timeout": "start_failed"},
        {"name": "running"},
        {"name": "stopping", "timeout": 10, "on_timeout": "force_stop"},
        {"name": "error", "timeout": 300, "on_timeout": "reset"},
    ]

    transitions = [
        {"trigger": "start", "source": "off", "dest": "starting"},
        {"trigger": "started", "source": "starting", "dest": "running"},
        {"trigger": "stop", "source": "running", "dest": "stopping"},
        {"trigger": "stopped", "source": "stopping", "dest": "off"},
        {"trigger": "start_failed", "source": "starting", "dest": "error"},
        {"trigger": "force_stop", "source": "stopping", "dest": "off"},
        {"trigger": "reset", "source": "error", "dest": "off"},
        {"trigger": "error", "source": "*", "dest": "error"},
    ]

    def __init__(self):
        self.state_machine = StateMachine(
            states=self.states,
            transitions=self.transitions,
            model=self,
            initial="off",
            queued=True,
        )

    # State callbacks
    async def on_enter_running(self):
        print("Entered running state")

    async def on_exit_running(self):
        print("Exiting running state")

# Usage
state = MyState()
await state.start()      # Trigger transition
print(state.state)       # Current state: "starting"
await state.started()    # Trigger next transition

State Definition

{
    "name": "running",           # State name
    "timeout": 60,               # Seconds before timeout
    "on_timeout": "timeout_fn",  # Trigger on timeout
    "on_enter": "enter_fn",      # Callback on enter
    "on_exit": "exit_fn",        # Callback on exit
}

Transition Definition

{
    "trigger": "start",     # Method name to trigger
    "source": "off",        # Source state(s), "*" for any
    "dest": "running",      # Destination state
}

Utility Functions

Async/Sync Compatibility

maybe_async decorator

from pydoover.utils import maybe_async

class MyClass:
    @maybe_async()
    def my_method(self, value):
        return f"sync: {value}"

    async def my_method_async(self, value):
        return f"async: {value}"

# Automatically uses sync or async based on context
obj = MyClass()
result = obj.my_method("test")        # Sync context
result = await obj.my_method("test")  # Async context

call_maybe_async

from pydoover.utils import call_maybe_async

async def process():
    # Works with both sync and async functions
    result = await call_maybe_async(some_function, arg1, arg2)
    return result

get_is_async

from pydoover.utils import get_is_async

is_async = get_is_async()  # Detect current context

Change Detection

from pydoover.utils import on_change

class Sensor:
    def my_callback(self, new_val, old_val, is_first, name):
        print(f"{name}: {old_val} -> {new_val}")

    @on_change("my_callback", name="temperature")
    def read_temperature(self):
        return get_sensor_value()

Diff Operations

from pydoover.utils import generate_diff, apply_diff

old = {"a": 1, "b": 2, "c": 3}
new = {"a": 1, "b": 5, "d": 4}

diff = generate_diff(old, new)
# {"b": 5, "c": None, "d": 4}

result = apply_diff(old, diff)
# {"a": 1, "b": 5, "d": 4}

4-20mA Sensor Scaling

from pydoover.utils import map_reading

# Map 4-20mA signal to 0-100 range
value = map_reading(
    in_val=12.0,           # Current reading (mA)
    output_values=[0, 100], # Output range
    raw_readings=[4, 20],   # Input range (4-20mA)
    ignore_below=3          # Ignore readings below 3mA
)
# Returns: 50.0

CaseInsensitiveDict

from pydoover.utils import CaseInsensitiveDict

d = CaseInsensitiveDict({"Content-Type": "application/json"})
print(d["content-type"])  # "application/json"
print(d["CONTENT-TYPE"])  # "application/json"

Device Agent Interface

Cloud connectivity through device_agent.

Availability

# Check if Device Agent is available
if self.device_agent.get_is_dda_available():
    # Connected to local agent

if self.device_agent.get_is_dda_online():
    # Connected to cloud

# Wait for availability
await self.device_agent.await_dda_available_async(timeout=300)

Channel Sync

# Wait for channels to sync
await self.device_agent.wait_for_channels_sync_async(
    channels=["config", "commands"],
    timeout=10
)

UIManager

Manages UI elements and cloud synchronization.

from pydoover.ui import UIManager

manager = UIManager(
    app_key="my_app",
    client=device_agent,
    auto_start=True,
    is_async=True
)

# Set UI elements
manager.set_children([temp_var, status_var, start_btn])

# Add children
manager.add_children(new_element1, new_element2)

# Get/set commands
cmd = manager.get_command("start_button")
manager.coerce_command("start_button", None)

# Force sync
await manager.handle_comms_async(force_log=True)

# Set status icon
manager.set_status_icon("running")

Complete Example

from pydoover.docker import Application, run_app
from pydoover.config import Schema, Integer, Number, Boolean
from pydoover import ui
from datetime import datetime

class PumpConfig(Schema):
    def __init__(self):
        self.pump_pin = Integer("Pump Pin", default=0)
        self.flow_pin = Integer("Flow Sensor Pin", default=5)
        self.target_flow = Number("Target Flow (L/min)", default=10.0)

class PumpUI:
    def __init__(self):
        self.flow_rate = ui.NumericVariable(
            "flow", "Flow Rate", precision=2,
            ranges=[
                ui.Range("Low", 0, 5, ui.Colour.orange),
                ui.Range("OK", 5, 15, ui.Colour.green),
                ui.Range("High", 15, 50, ui.Colour.red),
            ]
        )
        self.status = ui.TextVariable("status", "Status")
        self.start = ui.Action("start", "Start", colour=ui.Colour.green)
        self.stop = ui.Action("stop", "Stop", colour=ui.Colour.red)

    def fetch(self):
        return (self.flow_rate, self.status, self.start, self.stop)

class PumpApp(Application):
    config: PumpConfig

    async def setup(self):
        self.ui = PumpUI()
        self.ui_manager.add_children(*self.ui.fetch())
        self.running = False

        # Setup pulse counter
        self.counter = self.platform_iface.get_new_pulse_counter(
            pin=self.config.flow_pin.value,
            edge="rising"
        )

    @ui.callback("start")
    async def on_start(self, value):
        self.running = True
        await self.platform_iface.set_do_async(self.config.pump_pin.value, 1)
        self.ui.start.coerce(None)

    @ui.callback("stop")
    async def on_stop(self, value):
        self.running = False
        await self.platform_iface.set_do_async(self.config.pump_pin.value, 0)
        self.ui.stop.coerce(None)

    async def main_loop(self):
        # Update flow rate
        flow = self.counter.count / 60.0
        self.ui.flow_rate.update(flow)

        # Update status
        status = "Running" if self.running else "Stopped"
        self.ui.status.update(status)

        # Update tags
        await self.set_tag("flow_rate", flow)
        await self.set_tag("running", self.running)

if __name__ == "__main__":
    run_app(PumpApp(config=PumpConfig()))