Quick Start

Belay is a library that makes it quick and easy to interact with hardware via a MicroPython-compatible microcontroller. Belay has a single important class, Device:

import belay

device = belay.Device("/dev/ttyUSB0")

Creating a Device object connects to the board at the provided port. On connection, the device is reset into REPL mode, and a few common imports are performed on-device, namely:

import os, machine
from time import sleep
from micropython import const
from machine import ADC, I2C, Pin, PWM, SPI, Timer

The Device class has several useful methods:

__call__ - Generic statement/expression string evaluation.
setup - Executes body on-device in a global context.
task - Executes function on-device.
teardown - Executes body on-device in a global context when connection is closed.
thread - Executes function on-device in a background thread.
sync - Generic file synchronization from host to device.
sync_dependencies - For python packages to sync bundled micropython dependencies to board.

These are described in more detail in the subsequent subsections.

call

Directly calling the device instance, like a function, invokes a python statement or expression on-device.

Invoking a python statement like:

ret = device("foo = 1 + 2")

would execute the code foo = 1 + 2 on-device in the global context. Because this is a statement, the return value, ret is None.

Invoking a python expression like:

res = device("foo")

results in the return value res == 3 on host.

setup

The setup decorator is a way of invoking code on-device in a global context, and is commonly used for imports and instantiating objects and hardware. For example:

@device.setup
def setup(pin_number):
    from machine import Pin

    led = Pin(pin_number)


setup(25)

is equivalent to:

device("pin_number = 25")
device("from machine import Pin")
device("led = Pin(pin_number)")

Functions decorated with setup should be called only a few times at most. For repeated functions calls, use the task decorator.

task

The task decorator sends the decorated function to the device, and replaces the host function with a remote-executor.

Consider the following:

@device.task
def foo(a):
    return a * 2

Invoking bar = foo(5) on host sends a command to the device to execute the function foo with argument 5. The result, 10, is sent back to the host and results in bar == 10. This is the preferable way to interact with hardware.

Alternatively, the foo function will also be available at device.task.foo.

teardown

Same as setup, but automatically executes whenever device.close() is called. If Device is used as a context manager, device.close() is automatically called at context manager exit. Typically used for cleanup, like turning off LEDs or motors.

thread

thread is similar to task, but executes the decorated function in the background on-device.

@device.thread
def led_loop(period):
    led = Pin(25, Pin.OUT)
    while True:
        led.toggle()
        sleep(period)


led_loop(1.0)  # Returns immediately

Not all MicroPython boards support threading, and those that do typically have a maximum of 1 thread. The decorated function has no return value.

sync

For more complicated hardware interactions, additional python modules/files need to be available on the device's filesystem. sync takes in a path to a local folder. The contents of the folder will be synced to the device's root directory.

NOTE: This will delete any existing files currently on device before syncing.

For example, if the local filesystem looks like:

project
├── main.py
└── board
    ├── foo.py
    └── bar
        └── baz.py

Then, after device.sync("board") is ran from main.py, the remote filesystem will look like

foo.py
bar
└── baz.py

sync_dependencies

Syncs data that has been bundled with a python package. sync_dependencies is intended to make including micropython dependencies easier for pip-installable host-program.

from belay import Device

device = Device("/dev/ttyUSB0")

device.sync_dependencies("mypackage", "board")
# Alternative usage
import mypackage

device.sync_dependencies(mypackage, "board")

An intended use-case is to this method inconjunction with Belay's builtin package manager. Configure dependencies_path in pyproject.toml to point inside your python package, i.e. dependencies_path="mypackage/dependencies". In doing so, micropython dependencies will be stored inside your package. For this example, lets assume that pyproject.toml defines main and dev dependencies. The data can then be synced:

device.sync_dependencies(mypackage, "dependencies/main", "dependencies/dev")

Depending on your build system, other non-belay configurations may need to be performed to ensure other data is included in your python package.

Subclassing Device

Device can be subclassed and have task/thread methods. Benefits of this approach is better organization, and being able to define tasks/threads before the actual object is instantiated.

Consider the following:

from belay import Device

device = Device("/dev/ttyUSB0")


@device.task
def foo(a):
    return a * 2

is roughly equivalent to:

from belay import Device


class MyDevice(Device):
    @Device.task
    def foo(a):
        return a * 2


device = MyDevice("/dev/ttyUSB0")

Marking methods as tasks/threads in a class requires using the capital @Device.task decorator. Methods marked with @Device.task are similar to @staticmethod in that they do not contain self in the method signature. To the device, each marked method is equivalent to an independent function. Methods can be marked with @Device.setup or @Device.thread for their respective functionality. Methods not marked with these decorators are just normal, boring python methods.

For methods decorated with @Device.setup, the flag autoinit=True can be set to automatically call the method at the end of object creation. The decorated method must have no parameters, otherwise a ValueError will be raised.

from belay import Device


class MyDevice(Device):
    @Device.setup(autoinit=True)
    def setup():
        foo = 42


device = MyDevice("/dev/ttyUSB0")
# Do NOT explicitly call ``device.setup()``, it has already been invoked.

The Device class also has some hook methods that can be implemented to give customization to the object initialization process:

__pre_autoinit__ - Called near the end of __init__, after convenience imports have been imported, but before methods marked with @Device.setup(autoinit=True) are invoked. This is a good location to sync additional micropython dependencies to device.
__post_init__ - Called at the very end of __init__. This is a good location to set custom object attributes.

The following example will (in order):

Synchronize code located at dependencies/main within my_package to on-device /lib.
On-device, declare the global variable operation_mode_pin representing an input on pin 10.
On-host, query operation_mode_pin and set the attribute operation_mode, which could be used in other host methods.

from belay import Device


class MyDevice(Device):
    def __pre_autoinit__(self):
        # runs before ``setup(autoinit=True)`` decorated methods
        self.sync_dependencies("my_package", "dependencies/main")

    @Device.setup(autoinit=True)
    def setup():
        # A hypothetical jumper that controls how the device should function.
        operation_mode_pin = Pin(10, Pin.IN, Pin.PULL_UP)

    def __post_init__(self):
        # runs after ``setup(autoinit=True)`` decorated methods
        if self("operation_mode_pin.value"):
            self.operation_mode = "dev"
        else:
            self.operation_mode = "prod"