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refactor: pymycobot
* modularization * add Error class
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‎README.md‎

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@@ -19,7 +19,7 @@ pip install pymycobot --upgrade
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**Notes:**
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> Now only the version after `Atom2.4` is supported. If you use an earlier version, please install `pymycobot 1.0.7`.
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> Now only the version is `Atom2.4` or later is supported. If you use an earlier version, please install `pymycobot 1.0.7`.
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```bash
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pip install pymycobot==1.0.7

‎pymycobot/README.md‎

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@@ -26,6 +26,10 @@ We support Python2, Python3.5 or later.
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# MyCobot
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```python
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from pymycobot.mycobot import MyCobot
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```
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## Overall status
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### power_on()
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```python
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from pymycobot.mycobot import MyCobot
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from pymycobot.common import Angle
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from pymycobot.genre import Angle
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mycobot = MyCobot('/dev/ttyUSB0')
@@ -111,7 +115,7 @@ We support Python2, Python3.5 or later.
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```python
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from pymycobot.mycobot import MyCobot
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from pymycobot.common import Angle
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from pymycobot.genre import Angle
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mycobot = MyCobot('/dev/ttyUSB0')
@@ -144,7 +148,7 @@ We support Python2, Python3.5 or later.
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```python
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from pymycobot.mycobot import MyCobot
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from pymycobot.common import Angle
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from pymycobot.genre import Angle
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mycobot = MyCobot('/dev/ttyUSB0')
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```python
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from pymycobot.mycobot import MyCobot
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from pymycobot.common import Coord
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from pymycobot.genre import Coord
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mycobot = MyCobot('/dev/ttyUSB0')
@@ -202,7 +206,7 @@ We support Python2, Python3.5 or later.
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```python
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from pymycobot.mycobot import MyCobot
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from pymycobot.common import Coord
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from pymycobot.genre import Coord
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mycobot = MyCobot('/dev/ttyUSB0')
@@ -401,12 +405,20 @@ We support Python2, Python3.5 or later.
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# Angle
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```python
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from pymycobot.genre import Angle
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```
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**Description**
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Instance class of joint. It's recommended to use this class to select joint.
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# Coord
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```python
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from pymycobot.genre import Coord
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```
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**Description**
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Instance class of coord. It's recommended to use this class to select coord.

‎pymycobot/__init__.py‎

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@@ -1,10 +1,8 @@
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from __future__ import absolute_import
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import platform
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name = 'pymycobot'
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version = (platform.python_version())
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__all__ = ['mycobot', 'common']
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__version__ = '2.1.2'
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__all__ = ['mycobot', 'genre']

‎pymycobot/common.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,21 +1,146 @@
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import enum
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import sys
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sys.path.append('.')
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import struct
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class Angle(enum.Enum):
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class Command():
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#BASIC
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HEADER = 0xfe
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FOOTER = 0xfa
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J1 = 1
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J2 = 2
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J3 = 3
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J4 = 4
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J5 = 5
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J6 = 6
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# Overall status
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POWER_ON = 0x10
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POWER_OFF = 0x11
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IS_POWER_ON = 0x12
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SET_FREE_MODE = 0x13
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# MDI MODE AND OPERATION
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GET_ANGLES = 0x20
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SEND_ANGLE = 0x21
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SEND_ANGLES = 0x22
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GET_COORDS = 0x23
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SEND_COORD = 0x24
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SEND_COORDS = 0x25
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PAUSE = 0x26
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IS_PAUSED = 0x27
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RESUME = 0x28
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STOP = 0x29
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IS_IN_POSITION = 0x2a
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IS_MOVING = 0x2b
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# JOG MODE AND OPERATION
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JOG_ANGLE = 0x30
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JOG_COORD = 0x32
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JOG_STOP = 0x34
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# RUNNING STATUS AND SETTINGS
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GET_SPEED = 0x40
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SET_SPEED = 0x41
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GET_JOINT_MIN_ANGLE = 0x4a
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GET_JOINT_MAX_ANGLE = 0x4b
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# SERVO CONTROL
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IS_SERVO_ENABLE = 0x50
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IS_ALL_SERVO_ENABLE = 0x51
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# ATOM IO
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SET_COLOR = 0x6a
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SET_CLAW = 0x66
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class DataProcesser():
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# Functional approach
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def _encode_int8(self, data):
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return struct.pack('b', data)
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def _encode_int16(self, data):
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return list(struct.pack('>h', data))
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def _decode_int8(self, data):
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return struct.unpack('b', data)[0]
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def _decode_int16(self, data):
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return struct.unpack('>h', data)[0]
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def _angle_to_int(self, angle):
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return int(angle * 100)
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def _coord_to_int(self, coord):
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return int(coord * 10)
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def _int_to_angle(self, _int):
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return round(_int / 100.0, 3)
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def _int_to_coord(self, _int):
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return round(_int / 10.0, 2)
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def _flatten(self, _list):
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return sum(([x] if not isinstance(x, list) else self._flatten(x)
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for x in _list), [])
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def _process_data_command(self, data, genre):
82+
if not data:
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return []
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if genre in [
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Command.SEND_ANGLES, Command.SEND_COORDS,
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Command.IS_IN_POSITION
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]:
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_data_list = []
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for value in data[:6]:
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_data_list.extend(self._encode_int16((value)))
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for value in data[6:]:
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_data_list.append((value))
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return _data_list
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elif genre in [Command.SEND_ANGLE, Command.SEND_COORD]:
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return self._flatten(
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[data[0],
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self._flatten(self._encode_int16(data[1])), data[2]])
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elif genre in [
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Command.JOG_ANGLE, Command.JOG_COORD, Command.SET_COLOR
103+
]:
104+
return data
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else:
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return [data[0]]
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109+
def _is_frame_header(self, data, pos):
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return data[pos] == Command.HEADER and data[pos + 1] == Command.HEADER
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def _process_recived(self, data, genre):
113+
if not data:
114+
return []
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data = bytearray(data)
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data_len = len(data)
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for idx in range(data_len - 1):
119+
if self._is_frame_header(data, idx):
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break
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else:
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return []
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data_len = data[idx + 2] - 2
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cmd_id = data[idx + 3]
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if cmd_id != genre:
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return []
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data_pos = idx + 4
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avild_data = (data[data_pos:data_pos + data_len])
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res = []
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if data_len == 12:
133+
for idx in range(0, len(avild_data), 2):
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a = avild_data[idx:idx + 2]
135+
res.append(self._decode_int16(a))
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elif data_len == 2:
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res.append(self._decode_int16(avild_data))
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else:
139+
res.append(self._decode_int8(avild_data))
140+
return res
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142+
def _process_bool(self, data):
143+
return data[0] if data else -1
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14-
class Coord(enum.Enum):
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16-
X = 1
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Y = 2
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Z = 3
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Rx = 4
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Ry = 5
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Rz = 6

‎pymycobot/error.py‎

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@@ -0,0 +1,18 @@
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import functools
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class MyCobotDataException(Exception):
5+
pass
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7+
def check_id(func):
8+
9+
@functools.wraps(func)
10+
def _wapper(*args, **kwargs):
11+
if not 0 <= args[1] <= 6:
12+
raise MyCobotDataException('id not right, should be 1 ~ 6')
13+
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return func(*args, **kwargs)
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return _wapper
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‎pymycobot/genre.py‎

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@@ -0,0 +1,23 @@
1+
import sys
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sys.path.append('.')
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import enum
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6+
class Angle(enum.Enum):
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8+
J1 = 1
9+
J2 = 2
10+
J3 = 3
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J4 = 4
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J5 = 5
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J6 = 6
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15+
16+
class Coord(enum.Enum):
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18+
X = 1
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Y = 2
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Z = 3
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Rx = 4
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Ry = 5
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Rz = 6

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