codroid-robot-sdk 1.0.0__tar.gz

codroid_robot_sdk-1.0.0/.gitignore

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+# === 编译产物目录 (Build Directories) ===
+build/
+build_linux/
+build_windows/
+build_msvc/
+bin/
+lib/
+out/
+docs/
+
+# === 编译器产生的中间文件 (Objects & Libraries) ===
+*.o
+*.obj
+*.so
+*.a
+*.lib
+*.dll
+*.exe
+*.pdb
+*.exp
+*.ilk
+
+# === CMake 产生的中间文件 (CMake Artifacts) ===
+CMakeCache.txt
+CMakeFiles/
+CMakeScripts/
+cmake_install.cmake
+Makefile
+install_manifest.txt
+compile_commands.json
+# 之前脚本自动生成的交叉编译文件
+mingw-toolchain.cmake
+
+# === IDE 配置文件 (IDE Specific) ===
+# VS Code
+.vscode/
+.vscode/settings.json
+.vscode/tasks.json
+.vscode/launch.json
+.vscode/c_cpp_properties.json
+# Visual Studio (MSVC)
+.vs/
+*.sln
+*.vcxproj
+*.filters
+*.user
+*.suo
+*.db
+*.opendb
+
+# === 系统与临时文件 (System & Temp) ===
+.DS_Store
+Thumbs.db
+*.tmp
+*.log
+*.bak
+
+# Python 字节码
+__pycache__/
+*.py[cod]
+*$py.class
+
+# 虚拟环境
+.venv/
+env/
+venv/
+.hatch/
+
+# 编译输出
+dist/
+build/
+*.egg-info/
+
+# 文档输出
+site/
+
+# IDE 设置
+.vscode/
+.idea/
+
+# 单元测试与覆盖率
+.pytest_cache/
+.tox/
+.coverage
+htmlcov/
+
+# 本地环境配置文件
+.env

codroid_robot_sdk-1.0.0/LICENSE.txt

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+MIT License
+
+Copyright (c) 2026-present guybod <b13140185898@outlook.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+associated documentation files (the "Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the
+following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial
+portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT
+LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO
+EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
+USE OR OTHER DEALINGS IN THE SOFTWARE.

codroid_robot_sdk-1.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: codroid-robot-sdk
+Version: 1.0.0
+Project-URL: Documentation, https://guybod.github.io/CodroidSDK/
+Project-URL: Issues, https://github.com/guybod/CodroidSDK/issues
+Project-URL: Source, https://github.com/guybod/CodroidSDK
+Author-email: guybod <b13140185898@outlook.com>
+License-Expression: MIT
+License-File: LICENSE.txt
+Classifier: Development Status :: 4 - Beta
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Programming Language :: Python :: Implementation :: PyPy
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+
+# Codroid
+
+[![PyPI - Version](https://img.shields.io/pypi/v/codroid.svg)](https://pypi.org/project/codroid)
+[![PyPI - Python Version](https://img.shields.io/pypi/pyversions/codroid.svg)](https://pypi.org/project/codroid)
+
+-----
+
+## Table of Contents
+
+- [Installation](#installation)
+- [License](#license)
+
+## Installation
+
+```console
+pip install codroid
+```
+
+## License
+
+`codroid` is distributed under the terms of the [MIT](https://spdx.org/licenses/MIT.html) license.

codroid_robot_sdk-1.0.0/README.md

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+# Codroid
+
+[![PyPI - Version](https://img.shields.io/pypi/v/codroid.svg)](https://pypi.org/project/codroid)
+[![PyPI - Python Version](https://img.shields.io/pypi/pyversions/codroid.svg)](https://pypi.org/project/codroid)
+
+-----
+
+## Table of Contents
+
+- [Installation](#installation)
+- [License](#license)
+
+## Installation
+
+```console
+pip install codroid
+```
+
+## License
+
+`codroid` is distributed under the terms of the [MIT](https://spdx.org/licenses/MIT.html) license.

codroid_robot_sdk-1.0.0/examples/01_basic_usage.py

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+"""
+基础示例：连接机器人并停止当前工程
+"""
+from codroid import CodroidControlInterface
+
+def main():
+    # 初始化接口（默认 IP 192.168.1.136）
+    robot = CodroidControlInterface(host="192.168.1.136")
+    
+    try:
+        # 建立连接
+        robot.connect()
+        print("连接成功")
+
+        robot.debug = True
+        # 停止当前运行的工程
+        print("正在停止工程...")
+        response = robot.stop_project()
+        print(f"服务器响应: ID={response.id}, 类型={response.ty}")
+
+    finally:
+        # 务必记得断开连接
+        robot.disconnect()
+        print("已断开连接")
+
+if __name__ == "__main__":
+    main()

codroid_robot_sdk-1.0.0/examples/02_run_script.py

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+from codroid import CodroidControlInterface
+
+def run_demo():
+    # 使用 context manager (with) 是最推荐的做法
+    with CodroidControlInterface() as robot:
+        # 定义 Lua 程序
+        lua_code = "print('Hello Codroid')\nmovej([0,0,0,0,0,0])"
+        
+        # 定义共享变量
+        vars_data = {"v1": 100, "v2": "test"}
+
+        print("开始发送脚本...")
+        res = robot.__run_script(main_code=lua_code, vars=vars_data)
+        
+        if res.is_success:
+            print("脚本执行请求已发送")
+        else:
+            print(f"发送失败: {res.err}")
+
+if __name__ == "__main__":
+    run_demo()

codroid_robot_sdk-1.0.0/examples/03_run_project.py

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+import time
+
+from codroid import CodroidControlInterface
+
+def demo():
+    with CodroidControlInterface() as robot:
+        # 定义要运行的程序
+        projtecid = "projectluademo"
+
+        index = 0
+
+        res = robot.run_project(projtecid)
+        if res.is_success:
+            print("运行成功")
+
+        time.sleep(5)
+
+        res = robot.pause_project()
+        if res.is_success:
+            print("暂停成功")
+
+        time.sleep(5)
+
+        res = robot.resume_project()
+        if res.is_success:
+            print("恢复成功")
+
+        time.sleep(5)
+
+        res = robot.stop_project()
+        if res.is_success:
+            print("停止成功")
+
+        time.sleep(5)
+
+        res = robot.run_project_by_index(index)
+        if res.is_success:
+            print("映射启动成功")
+
+        time.sleep(5)
+
+        res = robot.stop_project()
+        if res.is_success:
+            print("停止成功")
+
+
+
+if __name__ == "__main__":
+    demo()

codroid_robot_sdk-1.0.0/examples/04_global_value.py

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+from codroid import CodroidControlInterface, GlobalVariable
+
+def demo():
+    with CodroidControlInterface() as robot:
+        # 定义要保存的变量组
+        vars_to_save = {
+            "v_int": GlobalVariable(value=1024, note="整数示例"),
+            "v_str": GlobalVariable(value="Codroid", note="字符串示例"),
+            "v_list": GlobalVariable(value=[1.1, 2.2, 3.3], note="数展示例"),
+            "v_map": GlobalVariable(value={"power": 100, "status": "on"}, note="Map示例")
+        }
+
+        print("正在增量保存全局变量...")
+        res = robot.save_global_variables(vars_to_save)
+        
+        if res.is_success:
+            print("保存成功！")
+
+if __name__ == "__main__":
+    demo()

codroid_robot_sdk-1.0.0/examples/05_rs485.py

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+from codroid import CodroidControlInterface, RS485BaudRate
+
+def main():
+    # 使用上下文管理器确保连接关闭
+    with CodroidControlInterface() as robot:
+        # 1. 初始化 485 接口
+        print("初始化 485: 115200, N, 8, 1")
+        robot.rs485_init(baudrate=RS485BaudRate.B115200)
+
+        # 2. 清空缓存
+        robot.rs485_flush()
+
+        # 3. 发送数据 (例如控制夹爪的指令)
+        cmd = b"\x01\x03\x00\x00\x00\x02\xC4\x0B" # 示例 Modbus 指令
+        print(f"发送数据: {cmd.hex()}")
+        robot.rs485_write(cmd)
+
+        # 4. 读取响应
+        print("等待响应...")
+        res = robot.rs485_read(length=7, timeout=1000)
+        
+        if res.is_success and res.db:
+            # 这里的 res.db 是 [1, 3, 4, ...] 这种整数列表
+            received_bytes = bytes(res.db)
+            print(f"收到数据 (Hex): {received_bytes.hex()}")
+        else:
+            print("未收到数据或读取失败")
+
+if __name__ == "__main__":
+    main()

codroid_robot_sdk-1.0.0/examples/06_jog_mode.py

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+import time
+import threading
+from codroid import CodroidControlInterface, JogMode, JogCoorType
+
+def start_heartbeat(robot, stop_event, interval=0.4):
+    """后台心跳线程函数"""
+    while not stop_event.is_set():
+        try:
+            robot.jog_heartbeat()
+            time.sleep(interval)
+        except Exception:
+            break
+
+def jog_demo():
+    with CodroidControlInterface() as robot:
+        # 1. 设置倍率
+        robot.set_manual_move_rate(50)
+        
+        # 2. 准备心跳控制
+        stop_heartbeat = threading.Event()
+        heartbeat_thread = threading.Thread(
+            target=start_heartbeat, 
+            args=(robot, stop_heartbeat)
+        )
+
+        print("开始点动 (轴1，正方向)...")
+        robot.jog(mode=JogMode.JOINT, index=1, speed=-0.5)
+        
+        # 启动心跳
+        heartbeat_thread.start()
+        
+        # 运动 2 秒
+        time.sleep(2)
+        
+        # 3. 停止点动
+        print("停止点动")
+        stop_heartbeat.set() # 停止心跳
+        heartbeat_thread.join()
+        robot.stop_jog()
+
+if __name__ == "__main__":
+    jog_demo()

codroid_robot_sdk-1.0.0/examples/07_move_to.py

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+import time
+import threading
+from codroid import CodroidControlInterface, MoveToType, MoveTarget
+
+def heartbeat_worker(robot, stop_event):
+    """
+    后台心跳线程：每 400ms 发送一次 moveToHeartbeat。
+    使用 400ms 是为了留出 100ms 的余量，确保符合 500ms 的协议要求。
+    """
+    print("[心跳] 启动运行维持心跳...")
+    while not stop_event.is_set():
+        try:
+            robot.move_to_heartbeat()
+            time.sleep(0.4) 
+        except Exception as e:
+            print(f"[心跳] 异常中断: {e}")
+            break
+    print("[心跳] 已停止")
+
+def moveto_demo():
+    # 1. 初始化并连接
+    with CodroidControlInterface(host="192.168.1.136") as robot:
+        
+        # 准备心跳控制工具
+        stop_event = threading.Event()
+        
+        try:
+            # --- 场景 1: 运动到预设的 Home 位置 ---
+            print("\n>>> 场景 1: 运动到 Home 位置")
+            robot.move_to(MoveToType.HOME)
+            
+            # 立即启动心跳维持
+            stop_event.clear()
+            t = threading.Thread(target=heartbeat_worker, args=(robot, stop_event))
+            t.start()
+            
+            # 假设运动需要 3 秒
+            time.sleep(3)
+            
+            # 停止心跳（模拟运动完成或需要切换指令）
+            stop_event.set()
+            t.join()
+
+
+            # --- 场景 2: 关节规划运动到指定坐标 (Type 4) ---
+            print("\n>>> 场景 2: 关节规划运动 (Type 4)")
+            
+            # 定义目标关节角 [j1, j2, j3, j4, j5, j6] 单位: deg
+            target_joints = MoveTarget(jp=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+            
+            robot.move_to(MoveToType.JOINT, target=target_joints)
+            
+            # 重新启动心跳
+            stop_event.clear()
+            t = threading.Thread(target=heartbeat_worker, args=(robot, stop_event))
+            t.start()
+            
+            # 运行 5 秒
+            time.sleep(5)
+            
+            # 结束心跳
+            stop_event.set()
+            t.join()
+
+
+            # --- 场景 3: 直线规划运动到笛卡尔坐标 (Type 5) ---
+            print("\n>>> 场景 3: 直线规划运动 (Type 5)")
+            
+            # 定义目标末端位置 [x, y, z, a, b, c]
+            target_pose = MoveTarget(cp=[350.0, 100.0, 400.0, 180.0, 0.0, 90.0])
+            
+            robot.move_to(MoveToType.LINEAR, target=target_pose)
+            
+            # 启动心跳
+            stop_event.clear()
+            t = threading.Thread(target=heartbeat_worker, args=(robot, stop_event))
+            t.start()
+            
+            time.sleep(4)
+            
+            # 结束运动
+            stop_event.set()
+            t.join()
+
+            print("\n所有运动演示完成")
+
+        except Exception as e:
+            print(f"执行过程中发生错误: {e}")
+            stop_event.set() # 确保线程能关闭
+
+if __name__ == "__main__":
+    moveto_demo()

codroid_robot_sdk-1.0.0/examples/08_move.py

@@ -0,0 +1,19 @@
+from codroid import CodroidControlInterface, MovePoint
+
+def move_demo():
+    with CodroidControlInterface() as robot:
+        # 1. 关节运动到 A 点
+        p1 = MovePoint(jp=[0, -90, 90, 0, 90, 0])
+        robot.move_j(p1, speed=50, acc=100)
+
+        # 2. 直线运动到 B 点 (带平滑过渡)
+        p2 = MovePoint(cp=[400, 100, 300, 180, 0, 0])
+        robot.move_l(p2, speed=100, acc=200, blend=10)
+
+        # 3. 圆弧运动 (必须是 cp)
+        target_cp = [400, -100, 300, 180, 0, 0]
+        middle_cp = [450, 0, 300, 180, 0, 0]
+        robot.move_c(target_cp, middle_cp, speed=50, acc=100)
+
+if __name__ == "__main__":
+    move_demo()

codroid_robot_sdk-1.0.0/examples/09_move_path.py

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+from codroid import CodroidControlInterface, MotionPath, MovePoint
+
+def path_demo():
+    with CodroidControlInterface() as robot:
+        # 1. 创建路径构建器
+        path = MotionPath()
+        
+        # 2. 链式添加一系列指令
+        path.mov_j(MovePoint(jp=[0, 0, 90, 0, 90, 0]), speed=60, acc=150) \
+            .mov_l(MovePoint(cp=[494,191,444,-180,0,-90]), speed=500, acc=1500, blend=30) \
+            .mov_l(MovePoint(cp=[294,191,444,-180,0,-90]), speed=500, acc=1500, blend=30) \
+            .mov_l(MovePoint(cp=[494,391,444,-180,0,-90]), speed=500, acc=1500, blend=30) \
+            .mov_l(MovePoint(cp=[494,191,644,-180,0,-90]), speed=500, acc=1500, blend=30) \
+            .mov_j(MovePoint(jp=[0, 0, 90, 0, 90, 0]), speed=60, acc=150, blend=0)
+        
+        # 3. 一次性执行
+        print("正在发送连续路径...")
+        res = robot.execute_path(path)
+        
+        if res.is_success:
+            print("路径指令已送达机器人")
+
+if __name__ == "__main__":
+    path_demo()

codroid_robot_sdk-1.0.0/examples/10_control_commands.py

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+from codroid import CodroidControlInterface, CodroidError
+import time
+
+def demo_control():
+    # 使用上下文管理器自动连接
+    with CodroidControlInterface(host="192.168.1.136") as robot:
+        try:
+            # 1. 清除可能存在的错误
+            print("正在清除错误...")
+            robot.clear_error()
+            time.sleep(0.5)
+
+            # 2. 机器人上使能
+            print("正在上使能...")
+            robot.switch_on()
+            time.sleep(1)
+
+            # 3. 切换到仿真模式进行测试
+            print("进入仿真模式...")
+            robot.to_simulation()
+
+            # 4. 尝试进入拖拽模式 (假设当前在允许的模式下)
+            print("开启拖拽模式...")
+            robot.start_drag()
+            time.sleep(5) # 允许用户拖动 5 秒
+            
+            print("关闭拖拽模式...")
+            robot.stop_drag()
+
+            # 5. 下使能
+            print("正在下使能...")
+            robot.switch_off()
+
+        except CodroidError as e:
+            print(f"操作失败: {e}")
+
+if __name__ == "__main__":
+    demo_control()

codroid_robot_sdk-1.0.0/examples/11_io_demo.py

@@ -0,0 +1,29 @@
+from codroid import CodroidControlInterface
+
+def io_demo():
+    with CodroidControlInterface() as robot:
+        # 1. 设置数字输出
+        print("设置 DO 10 为 1")
+        robot.set_do(10, 1)
+
+        # 2. 读取数字输入
+        di_val = robot.get_di(0)
+        print(f"DI 0 的值为: {di_val}")
+
+        # 3. 设置模拟输出
+        print("设置 AO 2 为 4.44")
+        robot.set_ao(2, 4.44)
+
+        # 4. 读取模拟输入
+        ai_val = robot.get_ai(1)
+        print(f"AI 1 的值为: {ai_val}")
+
+        # 5. 批量读取示例
+        res = robot.get_io_values([
+            {"type": "DI", "port": 0},
+            {"type": "AI", "port": 1}
+        ])
+        print(f"批量读取结果: {res.db}")
+
+if __name__ == "__main__":
+    io_demo()

codroid_robot_sdk-1.0.0/examples/12_register_demo.py

@@ -0,0 +1,21 @@
+from codroid import CodroidControlInterface, ExtendArrayType
+
+def register_demo():
+    with CodroidControlInterface() as robot:
+        # 1. 操作基础寄存器
+        print("设置寄存器 49300 为 123.45")
+        robot.set_register_value(49300, 123.45)
+        
+        val = robot.get_register(49300)
+        print(f"寄存器 49300 的值为: {val}")
+
+        # 2. 操作扩展数组
+        print("配置扩展数组索引 999 为 Float32 类型")
+        robot.set_extend_array_type(999, ExtendArrayType.FLOAT32)
+        
+        # 3. 删除/重置扩展数组
+        print("重置扩展数组索引 999")
+        robot.remove_extend_array(999)
+
+if __name__ == "__main__":
+    register_demo()

codroid_robot_sdk-1.0.0/examples/13_cri_realtime.py

@@ -0,0 +1,73 @@
+from codroid import CodroidControlInterface, CRIMask, CRIStreamHandler, CRIData
+import time
+
+def cri_demo():
+    LOCAL_IP = "192.168.1.1"
+    LOCAL_PORT = 18888
+    ROBOT_IP = "192.168.1.136"
+
+    # 1. 创建 UDP 接收器
+    # 假设我们只需要时间戳、状态和关节位置
+    my_mask = CRIMask.TIMESTAMP | CRIMask.STATUS_1 | CRIMask.JOINT_POS
+    handler = CRIStreamHandler(high_precision=False, mask=my_mask)
+    handler.bind(LOCAL_PORT)
+
+    with CodroidControlInterface(host=ROBOT_IP) as robot:
+        # 2. 通知机器人开始向我推送数据
+        res = robot.start_data_push(ip=LOCAL_IP, port=LOCAL_PORT, duration=10, mask=my_mask)
+        
+        print(res)
+        print("开始接收实时数据流...")
+        try:
+            for _ in range(10):
+                data, addr = handler._sock.recvfrom(2048)
+                parsed = handler.parse_packet(data)
+                print("------------------------------------------------------------------------")
+                print(f"时间戳: {parsed.timestamp}, 末端线速度: {parsed.tcp_speed}")
+                print(f"关节位置: {parsed.joint_pos}, 关节速度: {parsed.joint_vel}")
+                print(f"末端位置: {parsed.cartesian_pos}, 末端速度: {parsed.cartesian_vel}")
+                print(f"关节力矩: {parsed.joint_torque}, 关节外力: {parsed.external_torque}")
+                if parsed.status.project_running:
+                    print("工程运行")
+                if parsed.status.project_paused:
+                    print("工程暂停")
+                if parsed.status.project_stopped:
+                    print("工程停止")
+                if parsed.status.is_enabling:
+                    print("使能")
+                if parsed.status.is_disabled:
+                    print("未使能")
+                if parsed.status.is_manual:
+                    print("手动模式下")
+                if parsed.status.is_dragging:
+                    print("拖动中")
+                else:
+                    print("未拖动")
+                if parsed.status.is_moving:
+                    print("运动中")
+                else:
+                    print("未运动")
+                if parsed.status.collision_stop:
+                    print("碰撞报警")
+                if parsed.status.is_at_safe_pos:
+                    print("在安全点位")
+                if parsed.status.has_alarm:
+                    print("有报警")
+                if parsed.status.is_simulation:
+                    print("仿真模式")
+                if parsed.status.is_emergency_stop:
+                    print("急停按下")
+                if parsed.status.is_rescue:
+                    print("救援模式")
+                if parsed.status.is_auto:
+                    print("自动模式")
+                if parsed.status.is_remote:
+                    print("远程模式")
+                if parsed.status.rt_control_mode:
+                    print("实施控制模式开启")
+                print(f"时间戳: {parsed.timestamp}, 关节: {parsed.joint_pos}")
+        finally:
+            robot.stop_data_push(ip=LOCAL_IP, port=LOCAL_PORT)
+
+if __name__ == "__main__":
+    cri_demo()