codroid-robot-sdk 2.1.0__tar.gz → 2.1.1__tar.gz

codroid_robot_sdk-2.1.1/CHANGELOG.md

@@ -0,0 +1,52 @@
+# Changelog
+
+## 2.1.1 — 机器人设置 API（协议 19.x）
+
+### Added
+
+- `robot_settings.py`：`RobotFrame`、`RobotPayloadFrame`、`RobotParameters`
+- `SetCollisionSensitivity`、`GetRobotParameters`
+- 仅改默认编号：`SetDefaultPayloadId`、`SetDefaultToolId`、`SetDefaultUserCoordinateId`
+- 先读后改：`SetToolFrame`、`SetPayloadFrame`、`SetUserCoordinateFrame`
+- 整表下发：`SaveToolFrames`、`SavePayloadFrames`、`SaveUserCoordinateFrames`
+- 示例：`examples/14_robot_parameters.py`；`codroid_test.py robotparam`
+
+### Changed / Breaking
+
+- 运动门面仅保留 C# 同名：`MovJ`、`MovL`、`MovC`、`MovCircle`、`Move`、`MoveTo`、`MoveToHeartbeat`
+- 移除 `move_j` / `move_l` / `move_c` / `move_circle` / `execute_path` / `move` / `move_to` / `move_to_heartbeat`
+- `MoveTarget` 更名为 `MoveToTarget`（与 C# 一致）；`MotionPath.mov_*` 更名为 `MovJ` / `MovL` / `MovC`
+- **`CodroidSession` / `CodroidClient` 全部公开方法改为 PascalCase**（`Connect`、`SwitchOn`、`GetDi`、`StartCriDataPush` 等）；移除文件末尾历史 snake_case 别名
+- `get_cri_data()` 改为属性 **`CriData`**（对齐 C#）
+- `close` / `disconnect` 合并为 **`Disconnect`**
+- `CriRealtimeDispatcher.send_command` → **`SendCommand`**，`send_trajectory` → **`SendTrajectory`**
+- 移除 `subscribe_publish_topic` 别名
+
+## 2.1.0 — 运动 API 类型化（Breaking）
+
+与 C++ SDK v2.1.1 / `update1.md` 对齐。
+
+### Added
+
+- `JointPoint`、`CartesianPoint`、`MoveInstruction` 及工厂（`Degrees`、`MmDeg`、`MmDegWithRef`、`MovJ`/`MovL`/…）
+- `pack_move_point` / `pack_instruction`（`jp` 优先；笛卡尔缺省 `rj=[20,…,20]`）
+- 门面 API：`MovJ`、`MovL`、`MovC`、`MovCircle`、`Move`、`MoveTo`、`MoveToHeartbeat`
+- `MoveToTarget.Joint` / `MoveToTarget.Cartesian`
+- `InitConsoleUtf8()`（Windows 控制台 UTF-8）
+
+### Changed
+
+- `MovePoint.to_dict()` 经统一打包逻辑，仅 `cp` 时 JSON 会带默认 `rj`
+- 示例与 `codroid_test` 运动段改用类型化 API
+
+### Deprecated
+
+- 旧版 snake_case 运动方法（2.1.1 起已删除，见 2.1.1 Breaking）
+- 直接 `MovePoint(jp=…)` 作业务目标（请改用 `JointPoint` / `CartesianPoint`）
+
+### Migration
+
+1. 程序入口首行：`InitConsoleUtf8()`
+2. 关节目标 → `JointPoint.Degrees([...])` + `MovJ` / `MoveInstruction.MovJ`
+3. TCP 目标 → `CartesianPoint.MmDeg` 或 `MmDegWithRef(pose, cri_joint)`
+4. 多段路径 → `Move([MoveInstruction.MovJ(...), ...])`

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: codroid-robot-sdk
-Version: 2.1.0
+Version: 2.1.1
 Summary: Codroid robot controller Python SDK (TCP/CRI, typed motion API)
 Project-URL: Documentation, https://guybod.github.io/CodroidSDK/
 Project-URL: Issues, https://github.com/guybod/CodroidSDK/issues
@@ -71,8 +71,8 @@ InitConsoleUtf8()  # Windows cmd 下中文日志不乱码；Linux 上为 no-op
 ROBOT_IP = "192.168.1.136"  # 改成实际控制器 IP
 
 with CodroidControlInterface(host=ROBOT_IP) as robot:
-    robot.to_remote()
-    robot.switch_on()
+    robot.ToRemote()
+    robot.SwitchOn()
 ```
 
 运行：
@@ -127,7 +127,7 @@ robot.Move(path)
 
 打包规则：`jp` 优先；仅 `cp` 时若未提供 `rj`，JSON 中带默认 `[20,20,20,20,20,20]`（度）。
 
-**Breaking（2.1.0）**：请勿再用 `MovePoint(jp=...)` 作业务入口；`move_j` / `move_l` 已废弃，见 [CHANGELOG.md](CHANGELOG.md)。
+**Breaking（2.1.1）**：公开 API 与 C# 一致，统一 **PascalCase**（`Connect`、`SwitchOn`、`GetDi`、`MovJ`、`SetToolFrame` 等）；`CriData` 为属性；`move_j` / `switch_on` 等 snake_case 已移除。见 [CHANGELOG.md](CHANGELOG.md)。
 
 ## Windows 控制台 UTF-8
 
@@ -151,18 +151,22 @@ from codroid import CodroidClient, InitConsoleUtf8
 InitConsoleUtf8()
 
 with CodroidClient(host="192.168.1.136") as robot:
-    robot.to_remote()
-    robot.switch_on()
+    robot.ToRemote()
+    robot.SwitchOn()
 ```
 
 ## 示例
 
 ```bash
 PYTHONPATH=src python examples/08_move.py --robot 192.168.8.136
+PYTHONPATH=src python examples/14_robot_parameters.py --robot 192.168.8.136
 PYTHONPATH=src python examples/codroid_test.py motion
 PYTHONPATH=src python examples/codroid_test.py s20
+PYTHONPATH=src python examples/codroid_test.py robotparam
 ```
 
+机器人设置（协议 19.x）：`GetRobotParameters`、`SetToolFrame`、`SetDefaultToolId` 等见 `examples/14_robot_parameters.py`。
+
 寄存器与 S20 运动常量见仓库根目录 `AGENTS.md` §5.1。
 
 ## 常见问题

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/README.md

@@ -44,8 +44,8 @@ InitConsoleUtf8()  # Windows cmd 下中文日志不乱码；Linux 上为 no-op
 ROBOT_IP = "192.168.1.136"  # 改成实际控制器 IP
 
 with CodroidControlInterface(host=ROBOT_IP) as robot:
-    robot.to_remote()
-    robot.switch_on()
+    robot.ToRemote()
+    robot.SwitchOn()
 ```
 
 运行：
@@ -100,7 +100,7 @@ robot.Move(path)
 
 打包规则：`jp` 优先；仅 `cp` 时若未提供 `rj`，JSON 中带默认 `[20,20,20,20,20,20]`（度）。
 
-**Breaking（2.1.0）**：请勿再用 `MovePoint(jp=...)` 作业务入口；`move_j` / `move_l` 已废弃，见 [CHANGELOG.md](CHANGELOG.md)。
+**Breaking（2.1.1）**：公开 API 与 C# 一致，统一 **PascalCase**（`Connect`、`SwitchOn`、`GetDi`、`MovJ`、`SetToolFrame` 等）；`CriData` 为属性；`move_j` / `switch_on` 等 snake_case 已移除。见 [CHANGELOG.md](CHANGELOG.md)。
 
 ## Windows 控制台 UTF-8
 
@@ -124,18 +124,22 @@ from codroid import CodroidClient, InitConsoleUtf8
 InitConsoleUtf8()
 
 with CodroidClient(host="192.168.1.136") as robot:
-    robot.to_remote()
-    robot.switch_on()
+    robot.ToRemote()
+    robot.SwitchOn()
 ```
 
 ## 示例
 
 ```bash
 PYTHONPATH=src python examples/08_move.py --robot 192.168.8.136
+PYTHONPATH=src python examples/14_robot_parameters.py --robot 192.168.8.136
 PYTHONPATH=src python examples/codroid_test.py motion
 PYTHONPATH=src python examples/codroid_test.py s20
+PYTHONPATH=src python examples/codroid_test.py robotparam
 ```
 
+机器人设置（协议 19.x）：`GetRobotParameters`、`SetToolFrame`、`SetDefaultToolId` 等见 `examples/14_robot_parameters.py`。
+
 寄存器与 S20 运动常量见仓库根目录 `AGENTS.md` §5.1。
 
 ## 常见问题

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/01_basic_usage.py

@@ -53,12 +53,12 @@ def main(argv: list[str]) -> int:
         udp_port=args.udp_port,
     ) as robot:
         # 典型上电顺序：先自动再远程（与 C# ConnectRemoteAndSwitchOn 子步骤一致）
-        robot.enter_remote_mode_via_auto()
-        robot.switch_on()
+        robot.EnterRemoteModeViaAuto()
+        robot.SwitchOn()
 
         # 后台线程收 CRI UDP，结果写入 robot.cri_cache（线程安全快照）
         robot._start_cri_receiver()
-        robot.start_cri_data_push(ip=args.local_ip, port=args.udp_port)
+        robot.StartCriDataPush(ip=args.local_ip, port=args.udp_port)
 
         try:
             # 类型化目标：明确是「关节角」而非 TCP
@@ -82,7 +82,7 @@ def main(argv: list[str]) -> int:
             return 130
         finally:
             # 停止推送，释放控制器侧推送任务
-            robot.stop_cri_data_push(ip=args.local_ip, port=args.udp_port)
+            robot.StopCriDataPush(ip=args.local_ip, port=args.udp_port)
 
     return 0
 

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/02_run_script.py

@@ -41,9 +41,9 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
             print("发送脚本 / Sending script...")
-            res = robot.run_script(lua_code, vars=vars_data)
+            res = robot.RunScript(lua_code, vars=vars_data)
             if res.is_success:
                 print("脚本请求已发送 / Script request sent")
             else:

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/03_run_project.py

@@ -44,31 +44,31 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
 
             # 按工程名启动
-            res = robot.run_project(args.project_id)
+            res = robot.Run(args.project_id)
             print("运行 / run:", "ok" if res.is_success else res.err)
             time.sleep(args.step_sleep)
 
-            res = robot.pause_project()
+            res = robot.PauseProject()
             print("暂停 / pause:", "ok" if res.is_success else res.err)
             time.sleep(args.step_sleep)
 
-            res = robot.resume_project()
+            res = robot.ResumeProject()
             print("恢复 / resume:", "ok" if res.is_success else res.err)
             time.sleep(args.step_sleep)
 
-            res = robot.stop_project()
+            res = robot.StopProject()
             print("停止 / stop:", "ok" if res.is_success else res.err)
             time.sleep(args.step_sleep)
 
             # 按索引启动（与示教器工程列表顺序相关）
-            res = robot.run_project_by_index(args.index)
+            res = robot.RunByIndex(args.index)
             print("按索引启动 / by_index:", "ok" if res.is_success else res.err)
             time.sleep(args.step_sleep)
 
-            res = robot.stop_project()
+            res = robot.StopProject()
             print("再次停止 / stop:", "ok" if res.is_success else res.err)
     except KeyboardInterrupt:
         return 130

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/04_global_value.py

@@ -46,9 +46,9 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
             print("增量保存全局变量 / Saving globals...")
-            res = robot.save_global_vars(vars_to_save)
+            res = robot.SaveGlobalVars(vars_to_save)
             if res.is_success:
                 print("保存成功 / Saved")
             else:

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/05_rs485.py

@@ -36,20 +36,20 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
 
             # 配置末端 485 参数（枚举与 C# RS485BaudRate 对齐）
             print("初始化 115200 N 8 1 / RS485 init")
-            robot.rs485_init(baudrate=RS485BaudRate.B115200)
-            robot.rs485_flush()
+            robot.Rs485Init(baudrate=RS485BaudRate.B115200)
+            robot.Rs485Flush()
 
             # 示例 Modbus RTU：站号 1，功能码 03，读 2 个寄存器（CRC 已含在帧内）
             cmd = b"\x01\x03\x00\x00\x00\x02\xC4\x0B"
             print(f"发送 / TX: {cmd.hex()}")
-            robot.rs485_write(cmd)
+            robot.Rs485Write(cmd)
 
             print("读取响应（7 字节，1s 超时）/ Read...")
-            res = robot.rs485_read(length=7, timeout=1000)
+            res = robot.Rs485Read(length=7, timeout=1000)
             if res.is_success and res.db:
                 received = bytes(res.db)
                 print(f"收到 / RX (hex): {received.hex()}")

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/06_jog_mode.py

@@ -38,7 +38,7 @@ def start_heartbeat(
     """后台线程：在点动保持期间周期调用 jog_heartbeat。"""
     while not stop_event.is_set():
         try:
-            robot.jog_heartbeat()
+            robot.JogHeartbeat()
             time.sleep(interval)
         except Exception:
             # 连接断开或已 stop 时退出线程
@@ -55,10 +55,10 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
-            robot.switch_on()
+            robot.EnterRemoteModeViaAuto()
+            robot.SwitchOn()
             # 手动模式运动倍率 1~100（百分比）
-            robot.set_manual_move_rate(50)
+            robot.SetManualMoveRate(50)
 
             stop_heartbeat = threading.Event()
             heartbeat_thread = threading.Thread(
@@ -69,14 +69,14 @@ def main(argv: list[str]) -> int:
 
             print("关节 1 点动（示例速度）/ Jog joint 1...")
             # JogMode.JOINT + index + speed（比例）
-            robot.start_jog(mode=JogMode.JOINT, index=1, speed=-0.5)
+            robot.StartJog(mode=JogMode.JOINT, index=1, speed=-0.5)
             heartbeat_thread.start()
             time.sleep(args.duration)
 
             print("停止点动 / Stop jog")
             stop_heartbeat.set()
             heartbeat_thread.join(timeout=2.0)
-            robot.stop_jog()
+            robot.StopJog()
     except KeyboardInterrupt:
         return 130
     return 0

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/07_move_to.py

@@ -18,7 +18,7 @@
   PYTHONPATH=src python examples/07_move_to.py --robot <IP>
 
 【注意】
-  - 目标请用 ``MoveTarget.Joint`` / ``MoveTarget.Cartesian``（2.1+），勿裸填数组
+  - 目标请用 ``MoveToTarget.Joint`` / ``MoveToTarget.Cartesian``，勿裸填数组
   - moveTo 的 target 不走 movL 的默认 rj 逻辑
 """
 from __future__ import annotations
@@ -33,7 +33,7 @@ from codroid import (
     CodroidControlInterface,
     InitConsoleUtf8,
     JointPoint,
-    MoveTarget,
+    MoveToTarget,
     MoveToType,
     PrintBanner,
 )
@@ -63,8 +63,8 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
-            robot.switch_on()
+            robot.EnterRemoteModeViaAuto()
+            robot.SwitchOn()
 
             # --- 场景 1：预设 Home，无需 target ---
             PrintBanner("Scene 1 — HOME", subtitle="MoveToType.HOME")
@@ -78,7 +78,7 @@ def main(argv: list[str]) -> int:
 
             # --- 场景 2：关节空间规划到指定六轴角 ---
             PrintBanner("Scene 2 — JOINT (Type 4)", subtitle="关节规划")
-            target_joints = MoveTarget.Joint(JointPoint.Degrees([0.0] * 6))
+            target_joints = MoveToTarget.Joint(JointPoint.Degrees([0.0] * 6))
             robot.MoveTo(MoveToType.JOINT, target=target_joints)
             stop_event.clear()
             t = threading.Thread(target=heartbeat_worker, args=(robot, stop_event))
@@ -89,7 +89,7 @@ def main(argv: list[str]) -> int:
 
             # --- 场景 3：笛卡尔直线到 TCP 位姿（mm + 度）---
             PrintBanner("Scene 3 — LINEAR (Type 5)", subtitle="直线规划")
-            target_pose = MoveTarget.Cartesian(
+            target_pose = MoveToTarget.Cartesian(
                 CartesianPoint.MmDeg([350.0, 100.0, 400.0, 180.0, 0.0, 90.0]),
             )
             robot.MoveTo(MoveToType.LINEAR, target=target_pose)

codroid_robot_sdk-2.1.1/examples/08_move.py

@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+"""
+示例 08 — 类型化运动 API（MovJ / MovL / Move 四组合）
+
+【目的】
+  对齐 C++ ``examples_client/04_move.cpp``，演示「运动方式 × 点位类型」四种合法组合：
+
+  | API / 工厂       | 参数类型         | 协议字段   |
+  |------------------|------------------|------------|
+  | MovJ             | JointPoint       | movJ + jp  |
+  | MovJ             | CartesianPoint   | movJ + cp  |
+  | MovL             | CartesianPoint   | movL + cp  |
+  | MovL             | JointPoint       | movL + jp  |
+  | MovC             | CartesianPoint×2 | movC 中间点+终点 |
+
+  流程：先逐条单点下发（含 ``MovC``），再一次 ``Move(path)`` 下发多段（末段为圆弧）。
+
+【前置条件】
+  - 已使能；CRI 推送正常（movJ→TCP 建议 ``MmDegWithRef``）
+  - S20 等机型请核对笛卡尔点位（常量来自 AGENTS.md §5.1）
+
+【运行】
+  PYTHONPATH=src python examples/08_move.py --robot <IP> --local-ip <本机IP>
+
+【注意】
+  - ``MovJ(CartesianPoint)``：关节插补到 TCP，控制器逆解；有 CRI 时用当前关节作 ``rj``
+  - ``MovL(JointPoint)``：直线到关节目标（非 TCP 直线），协议仍带 ``jp``
+  - 仅 ``cp`` 且无 ``rj`` 时，打包默认 ``rj=[20,…,20]``（度）
+  - ``MovC`` 仅接受两个 ``CartesianPoint``（中间点、终点），与 C++ ``04_move.cpp`` 圆弧常量一致
+"""
+from __future__ import annotations
+
+import argparse
+import sys
+import time
+from typing import Optional
+
+from codroid import (
+    CartesianPoint,
+    CodroidControlInterface,
+    CriRealTimeData,
+    InitConsoleUtf8,
+    JointPoint,
+    MoveInstruction,
+    PrintBanner,
+)
+
+
+def wait_idle(robot: CodroidControlInterface, poll_s: float = 0.05) -> None:
+    """轮询 CRI 直到 is_moving 为 False。"""
+    while True:
+        data = robot.CriData
+        if data is not None and not data.status.is_moving:
+            return
+        if data is not None:
+            print(f"  运动中 joint_pos={data.joint_pos}")
+        else:
+            print("  等待 CRI / waiting for status...")
+        time.sleep(poll_s)
+
+
+def cartesian_with_cri_ref(
+    robot: CodroidControlInterface,
+    pose_mm_deg: list[float],
+    label: str,
+) -> CartesianPoint:
+    """
+    有 CRI 时用 ``MmDegWithRef``，减少 movJ/movL 到 TCP 时的逆解跳解。
+  无 CRI 时退回 ``MmDeg`` 并打印警告。
+    """
+    cri: Optional[CriRealTimeData] = robot.CriData
+    if cri is not None and len(cri.joint_pos) >= 6:
+        return CartesianPoint.MmDegWithRef(pose_mm_deg, list(cri.joint_pos))
+    print(f"  警告 [{label}]: 无 CRI 关节快照，使用 MmDeg（无 rj）")
+    return CartesianPoint.MmDeg(pose_mm_deg)
+
+
+def main(argv: list[str]) -> int:
+    p = argparse.ArgumentParser(description="MovJ/MovL four-combination demo")
+    p.add_argument("--robot", default="192.168.8.136", help="控制器 IP")
+    p.add_argument("--local-ip", default="192.168.8.150", help="本机 IP（CRI）")
+    p.add_argument("--udp-port", type=int, default=18888, help="本机 UDP 端口")
+    p.add_argument("--debug", action="store_true", help="打印 JSON")
+    args = p.parse_args(argv)
+
+    PrintBanner("08 — Move (typed API)", subtitle=args.robot)
+
+    # AGENTS.md §5.1 S20 常用测试点（度 / mm+度）
+    joint_home = JointPoint.Degrees([0, 0, 0, 0, 0, 0])
+    joint_pose = JointPoint.Degrees([0, 0, 90, 0, 90, 0])
+    cart_p1 = [927.511, 214.489, 486.524, 179.999, 0.0, -89.999]
+    cart_p2 = [927.516, 214.489, 900.0, 180.0, 0.0, -89.999]
+    # C++ 04_move.cpp 圆弧：中间点 → 终点 line_p1
+    circle_middle = CartesianPoint.MmDeg(
+        [927.515, 27.23, 738.722, -180.0, 0.0, -89.999]
+    )
+    circle_end = CartesianPoint.MmDeg(cart_p1)
+
+    try:
+        with CodroidControlInterface(
+            host=args.robot,
+            local_ip=args.local_ip,
+            udp_port=args.udp_port,
+        ) as robot:
+            robot.debug = args.debug
+            robot.EnterRemoteModeViaAuto()
+            robot.SwitchOn()
+            robot._start_cri_receiver()
+            robot.StartCriDataPush(ip=args.local_ip, port=args.udp_port)
+            time.sleep(0.3)
+
+            # -----------------------------------------------------------------
+            # 一、单条指令（每种组合各调用一次 MovJ / MovL）
+            # -----------------------------------------------------------------
+
+            print("\n[1] MovJ + JointPoint  (movJ + jp)")
+            robot.MovJ(joint_pose, speed=40, acceleration=100)
+            wait_idle(robot)
+
+            print("\n[2] MovL + CartesianPoint  (movL + cp)")
+            line_p1 = cartesian_with_cri_ref(robot, cart_p1, "MovL(cp)")
+            robot.MovL(line_p1, speed=150, acceleration=500)
+            wait_idle(robot)
+
+            print("\n[3] MovJ + CartesianPoint  (movJ + cp，控制器逆解到 TCP)")
+            line_p2 = cartesian_with_cri_ref(robot, cart_p2, "MovJ(cp)")
+            robot.MovJ(line_p2, speed=40, acceleration=100)
+            wait_idle(robot)
+
+            print("\n[4] MovL + JointPoint  (movL + jp，直线到关节角而非 TCP 直线)")
+            robot.MovL(joint_home, speed=150, acceleration=500)
+            wait_idle(robot)
+
+            print("\n[5] MovC + CartesianPoint×2  (movC，中间点 → 终点)")
+            robot.MovC(circle_middle, circle_end, speed=120, acceleration=400)
+            wait_idle(robot)
+
+            # -----------------------------------------------------------------
+            # 二、多段路径 Move(path) — 四组合 + 末段 MovC（与 C++ path 一致）
+            # -----------------------------------------------------------------
+            print(
+                "\n[6] Move(path): "
+                "movJ+jp → movJ+cp → movL+cp → movL+jp → movC"
+            )
+            path = [
+                MoveInstruction.MovJ(joint_pose, speed=40, acc=100),
+                MoveInstruction.MovJ(line_p2, speed=40, acc=100),
+                MoveInstruction.MovL(line_p1, speed=150, acc=500, blend=25),
+                MoveInstruction.MovL(joint_home, speed=150, acc=500, blend=25),
+                MoveInstruction.MovC(
+                    circle_middle, circle_end, speed=120, acc=400, blend=25
+                ),
+            ]
+            robot.Move(path)
+            wait_idle(robot)
+
+            PrintBanner("08 — 完成", subtitle="四组合 + MovC 单点与路径")
+            time.sleep(1)
+    except KeyboardInterrupt:
+        return 130
+
+    return 0
+
+
+if __name__ == "__main__":
+    InitConsoleUtf8()
+    raise SystemExit(main(sys.argv[1:]))

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/09_move_path.py

@@ -78,8 +78,8 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
-            robot.switch_on()
+            robot.EnterRemoteModeViaAuto()
+            robot.SwitchOn()
             print("发送连续路径 / Sending path...")
             res = robot.Move(path)
             if res.is_success:

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/10_control_commands.py

@@ -38,28 +38,28 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
             try:
                 print("清错 / clear_system_error")
-                robot.clear_system_error()
+                robot.ClearSystemError()
                 time.sleep(0.5)
 
                 print("上使能 / switch_on")
-                robot.switch_on()
+                robot.SwitchOn()
                 time.sleep(1)
 
                 print("仿真模式 / to_simulation")
-                robot.to_simulation()
+                robot.ToSimulation()
 
                 print("拖拽开始 / start_drag")
-                robot.start_drag()
+                robot.StartDrag()
                 time.sleep(args.drag_seconds)
 
                 print("拖拽结束 / stop_drag")
-                robot.stop_drag()
+                robot.StopDrag()
 
                 print("下使能 / switch_off")
-                robot.switch_off()
+                robot.SwitchOff()
             except CodroidError as e:
                 # 控制器 err 字段映射为 CodroidError
                 print(f"CodroidError: {e}", file=sys.stderr)

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/11_io_demo.py

@@ -34,22 +34,22 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
 
             print("DO 10 = 1 / set_do(10, 1)")
-            robot.set_do(10, 1)
+            robot.SetDo(10, 1)
 
-            di_val = robot.get_di(0)
+            di_val = robot.GetDi(0)
             print(f"DI 0 = {di_val}")
 
             print("AO 2 = 4.44 / set_ao")
-            robot.set_ao(2, 4.44)
+            robot.SetAo(2, 4.44)
 
-            ai_val = robot.get_ai(1)
+            ai_val = robot.GetAi(1)
             print(f"AI 1 = {ai_val}")
 
             # 批量读：每项为 {type, port}，type 为 DI/DO/AI/AO 字符串
-            res = robot.get_io_values(
+            res = robot.GetIoValues(
                 [
                     {"type": "DI", "port": 0},
                     {"type": "AI", "port": 1},

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/12_register_demo.py

@@ -35,20 +35,20 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
+            robot.EnterRemoteModeViaAuto()
 
             # 浮点寄存器写读（地址因机型/配置而异）
             print("寄存器 49300 = 123.45 / set_register_value")
-            robot.set_register_value(49300, 123.45)
-            val = robot.get_register(49300)
+            robot.SetRegisterValue(49300, 123.45)
+            val = robot.GetRegisterValue(49300)
             print(f"读回 / read: {val}")
 
             # 将逻辑扩展数组 ID 绑定为 Float32 元素类型
             print("扩展数组 999 → Float32 / set_extend_array_type")
-            robot.set_extend_array_type(999, ExtendArrayType.FLOAT32)
+            robot.SetExtendArrayType(999, ExtendArrayType.FLOAT32)
 
             print("重置扩展数组 999 / remove_extend_array")
-            robot.remove_extend_array(999)
+            robot.RemoveExtendArray(999)
     except KeyboardInterrupt:
         return 130
     return 0

{codroid_robot_sdk-2.1.0 → codroid_robot_sdk-2.1.1}/examples/13_cri_realtime.py

@@ -61,8 +61,8 @@ def main(argv: list[str]) -> int:
 
     try:
         with CodroidControlInterface(host=args.robot) as robot:
-            robot.enter_remote_mode_via_auto()
-            res = robot.start_cri_data_push(
+            robot.EnterRemoteModeViaAuto()
+            res = robot.StartCriDataPush(
                 ip=args.local_ip,
                 port=args.local_port,
                 duration=args.duration,
@@ -129,7 +129,7 @@ def main(argv: list[str]) -> int:
                         print("状态 / status:", ", ".join(flags))
                     time.sleep(0.05)
             finally:
-                robot.stop_cri_data_push(ip=args.local_ip, port=args.local_port)
+                robot.StopCriDataPush(ip=args.local_ip, port=args.local_port)
     except KeyboardInterrupt:
         return 130
     finally: