toio / toio.py

toio.py

This is a library for controlling toio™Core Cube from Python.

Based on toio Core Cube Specifications v2.4.0.

（日本語版 README.md はこちら）

Features

• Uses bleak for Bluetooth communication
• Supports Python 3.8 and later versions (Python 3.12 is recommended)
• Multi-platform (Windows, Linux, macOS, iOS, iPadOS)
• No dedicated Bluetooth dongle required
• Asynchronous API (ToioCoreCube API) based on the toio Core Cube Specifications and synchronous API (SimpleCube API) for easy cube control
• Scanning function by specifying BLE addresses and cube-specific names
• API to control cube functions classified by characteristics (ToioCoreCube API)
• Ability to scan paired cubes (Windows only)

System requirements

Primary tested environment

• Windows: Windows 10 (22H2)

Secondary tested environment

• Windows: Windows 11 (23H2)
• Linux: Ubuntu24.04
• macOS: macOS 14(Sonoma)

Experimental implementation

• iOS, iPadOS: 17

toio.py works on Pythonista3.
How to install: INSTALL_TO_PYTHONISTA3.en.md

Setup and tutorial

See below for instructions on how to set up and run the tutorial.

• Setup Guide (English)
• Setup Guide (Japanese)
• Setup Guide (Chinese)

---

SimpleCube API

See SIMPLE_API.en.md for information on the SimpleCube API for easily controlling toio Core Cubes.

• SIMPLE_API.en.md (English)
• SIMPLE_API.ja.md (Japanese)

---

API document

• API Document

---

Implementation overview

toio.py consists of following classes:

ToioCoreCube

Class for controlling the cube.

ToioCoreCube has subclasses corresponding to the characteristics described in toio CoreCube Specifications. You access the various functions of the cube via these subclasses.

Features added since v1.1:

ToioCoreCube class includes basic scanner function. ToioCoreCube class can scan a toio Core Cube without the help of the Scanner class. For scanning in special settings. use the Scanner class.

Scanner

Class for scanning cubes via the BLE interface.

You can scan for cubes in the following ways:

• Scan for nearby cubes
• Scan for a specific cube by name (the last 3 characters of the toio Core Cube name)

The following is available only for Windows and Linux:

• Scan for a specific cube by BLE address

The following is available only for Windows:

• Scan for cubes registered (paired) with OS

MultipleToioCoreCubes

MultipleToioCoreCubes class is added since v1.1.

MultipleToioCoreCubes is supplementary helper class to control multiple toio Core Cubes.

This class provides several functions for multiple toio Core Cubes such as connect, disconnect, etc.

Examples

Scan and connect

Create a ToioCoreCube instance with ToioCoreCube() without parameters and call scan() and connect().

import asyncio

from toio import *

async def scan_and_connect():
    cube = ToioCoreCube()
    await cube.scan()
    await cube.connect()

    await asyncio.sleep(3)

    await cube.disconnect()
    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Since ToioCoreCube() is an asynchronous context manager, you can use async with to implicitly scan, connect, and disconnect.
The preceding code can be written as follows using async with:

import asyncio

from toio import *

async def scan_and_connect():
    async with ToioCoreCube() as cube:

        await asyncio.sleep(3)

    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Scan and connect using Scanner class

Use BLEScanner.scan().

The argument is the number of cubes to find in the scan.

If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of the number of cubes found at the time of the timeout.

The following sample scans and connects nearby cubes.

Disconnects 3 seconds after connecting.

import asyncio

from toio import *

async def scan_and_connect():
    dev_list = await BLEScanner.scan(num=1)
    assert len(dev_list)
    cube = ToioCoreCube(dev_list[0].interface)
    await cube.connect()

    await asyncio.sleep(3)

    await cube.disconnect()
    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Scan and connect using Scanner class (scan by cube name)

Use BLEScanner.scan_with_id().

The argument is set (set type), a 3-digit string at the end of the cube. The argument is given as set even if only one unit is to be scanned.

If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of cubes found at the time of the timeout.

    dev_list = await BLEScanner.scan_with_id(cube_id={"C7f"})

Scan and connect toio Core Cube-C7f.

Disconnects 3 seconds after connecting.

import asyncio

from toio import *

async def scan_and_connect():
    dev_list = await BLEScanner.scan_with_id(cube_id={"C7f"})
    assert len(dev_list)
    cube = ToioCoreCube(dev_list[0].interface)
    await cube.connect()

    await asyncio.sleep(3)

    await cube.disconnect()
    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Scan and connect using Scanner class (scan paired cubes: supported on Windows only)

Windows only, paired cubes can be scanned.

Use BLEScanner.scan_registered_cubes().

The argument is the number of cubes to find in the scan.

If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of the number of cubes found at the time of the timeout.

    dev_list = await BLEScanner.scan_registered_cubes()

Scan for paired cubes and connect them. (Pair the cube with Windows using "Add Bluetooth Device" before doing this.)

Disconnects 3 seconds after connecting.

import asyncio

from toio import *

async def scan_and_connect():
    dev_list = await BLEScanner.scan_registered_cubes(num=1)
    assert len(dev_list)
    cube = ToioCoreCube(dev_list[0].interface)
    await cube.connect()

    await asyncio.sleep(3)

    await cube.disconnect()
    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Get the cube location

Use the class ToioCoreCube.api.id_information to get the location information of the cube. This class provides access to the read sensor characteristic.

The following code reads and displays the cube ID information 200 times. It uses read() to read to the characteristic.

import asyncio

from toio import *

async def read_id():
    async with ToioCoreCube() as cube:
        for n in range(200):
            pos = await cube.api.id_information.read()
            print("%4d:%s" % (n, str(pos)))

if __name__ == "__main__":
    asyncio.run(read_id())

Get the cube location (using notification)

You can receive notifications from the cube by registering a notification handler with register_notification_handler(). Notifications are per each characteristic. A notification handler that registered with ToioCoreCube.api.id_information.register_notification_handler() receives only notifications from the read sensor.

The following code reads the ID by notification.

After 10 seconds, the handler is unregistered and disconnected.

import asyncio

from toio import *

def notification_handler(payload: bytearray):
    id_info = IdInformation.is_my_data(payload)
    print(str(id_info))


async def read_id():
    async with ToioCoreCube() as cube:
        # add notification handler
        await cube.api.id_information.register_notification_handler(notification_handler)

        await asyncio.sleep(10)

        # remove notification handler
        await cube.api.id_information.unregister_notification_handler(
            notification_handler
        )
    return 0

if __name__ == "__main__":
    asyncio.run(read_id())

The complete code that keeps displaying ID information until Ctrl-C is pressed is examples/read_position.py.

Motor control

The ToioCoreCube.api.motor class is used to control the motor. This class provides access to the motor's characteristic.

The following code uses motor_control() to rotate the cube in place for 2 seconds.

import asyncio

from toio import *

async def motor_1():
    async with ToioCoreCube() as cube:
        # go
        await cube.api.motor.motor_control(10, -10)
        await asyncio.sleep(2)
        # stop
        await cube.api.motor.motor_control(0, 0)

    return 0

if __name__ == "__main__":
    asyncio.run(motor_1())

Motor control (move to specified position)

Use motor.motor_control_target() to move the cube to a specified position on the mat.

import asyncio

from toio import *

def notification_handler(payload: bytearray):
    id_info = IdInformation.is_my_data(payload)
    print(str(id_info))

async def motor_2():
    async with ToioCoreCube() as cube:
        await cube.api.motor.register_notification_handler(notification_handler)
        await cube.api.motor.motor_control_target(
            timeout=5,
            movement_type=MovementType.Linear,
            speed=Speed(
                max=100, speed_change_type=SpeedChangeType.AccelerationAndDeceleration),
            target=TargetPosition(
                cube_location=CubeLocation(point=Point(x=200, y=200), angle=0),
                rotation_option=RotationOption.AbsoluteOptimal,
            ),
        )

        await asyncio.sleep(4)

if __name__ == "__main__":
    asyncio.run(motor_2())

Motor control (move to multiple specified positions)

Use motor.motor_control_multiple_targets() to move the cube to a specified position on multiple mats.

import asyncio

from toio import *

async def motor_3():
    async with ToioCoreCube() as cube:
        targets = [
            TargetPosition(
                cube_location=CubeLocation(point=Point(x=250, y=250), angle=0), rotation_option=RotationOption.AbsoluteOptimal
            ),
            TargetPosition(
                cube_location=CubeLocation(point=Point(x=120, y=170), angle=0), rotation_option=RotationOption.AbsoluteOptimal
            ),
        ]
        await cube.api.motor.motor_control_multiple_targets(
            timeout=5,
            movement_type=MovementType.Linear,
            speed=Speed(
                max=100, speed_change_type=SpeedChangeType.AccelerationAndDeceleration),
            mode=WriteMode.Overwrite,
            target_list=targets,
        )

        await asyncio.sleep(5)

if __name__ == "__main__":
    asyncio.run(motor_3())

Multiple cubes control

This is an example of MultipleToioCoreCubes().

cubes= parameter is the number of cubes to use.

MultipleToioCoreCubes() is a context manager. In the async with block, cubes are already connected and all cubes are disconnected when exiting async with block.

import asyncio

from toio import *

async def scan_and_connect():
    async with MultipleToioCoreCubes(cubes=2) as cubes:
        await cubes[0].api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0xFF, g=0x00, b=0xFF))
        )
        await cubes[1].api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0x00, g=0xFF, b=0xFF))
        )
        await asyncio.sleep(3)

    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Name the cubes and access them by name

If name= parameter is given to MultipleToioCoreCubes(), each cube can be accessed by name.

import asyncio

from toio import *

async def scan_and_connect():
    async with MultipleToioCoreCubes(cubes=2, names=("taro", "jiro")) as cubes:
        await cubes.taro.api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0xFF, g=0x00, b=0xFF))
        )
        await cubes.jiro.api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0x00, g=0xFF, b=0xFF))
        )
        await asyncio.sleep(3)

    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())

Accessing by class properties may not be understood by LSP or code completion systems. Therefore, it can be written using named() as follows:

import asyncio

from toio import *

async def scan_and_connect():
    async with MultipleToioCoreCubes(cubes=2, names=("taro", "jiro")) as cubes:
        await cubes.named("taro").api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0xFF, g=0x00, b=0xFF))
        )
        await cubes.named("jiro").api.indicator.turn_on(
            IndicatorParam(duration_ms=0, color=Color(r=0x00, g=0xFF, b=0xFF))
        )
        await asyncio.sleep(3)

    return 0

if __name__ == "__main__":
    asyncio.run(scan_and_connect())