codroid-robot-sdk 2.1.1__tar.gz → 2.1.4__tar.gz

{codroid_robot_sdk-2.1.1 → codroid_robot_sdk-2.1.4}/.gitignore

@@ -1,97 +1,96 @@
-# === 编译产物目录 (Build Directories) ===
-build/
-build_linux/
-build_windows/
-build_msvc/
-bin/
-lib/
-out/
-docs/
-up.md
-
-# === 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]
-*$py.class
-
-# 虚拟环境
-.venv/
-env/
-venv/
-.hatch/
-
-# 编译输出
-dist/
-build/
-*.egg-info/
-
-# 文档输出
-site/
-
-# IDE 设置
-.vscode/
-.idea/
-
-# 单元测试与覆盖率
-.pytest_cache/
-.tox/
-.coverage
-htmlcov/
-
-# 本地环境配置文件
-.env
-
-# 内部协议/设计文档（本地副本，不入库）
-AGENTS.md
-PROTOCOL_LINE_BY_LINE.md
-SDK_API_AND_DESIGN.md
-TRAJECTORY_ALGORITHM.md
-plan.md
+# === 编译产物目录 (Build Directories) ===
+build/
+build_linux/
+build_windows/
+build_msvc/
+bin/
+lib/
+out/
+up.md
+
+# === 编译器产生的中间文件 (Objects & Libraries) ===
+*.o
+*.obj
+*.so
+*.a
+*.lib
+*.dll
+*.exe
+*.pdb
+*.exp
+*.ilk
+
+# === CMake 产生的中间文件 (CMake Artifacts) ===
+CMakeCache.txt
+CMakeFiles/
+CMakeScripts/
+cmake_install.cmake
+Makefile
+install_manifest.txt
+compile_commands.json
+# 之前脚本自动生成的交叉编译文件
+mingw-toolchain.cmake
+
+# === IDE 配置文件 (IDE Specific) ===
+# VS Code
+.vscode/
+.vscode/settings.json
+.vscode/tasks.json
+.vscode/launch.json
+.vscode/c_cpp_properties.json
+# Visual Studio (MSVC)
+.vs/
+*.sln
+*.vcxproj
+*.filters
+*.user
+*.suo
+*.db
+*.opendb
+
+# === 系统与临时文件 (System & Temp) ===
+.DS_Store
+Thumbs.db
+*.tmp
+*.log
+*.bak
+
+# Python 字节码
+__pycache__/
+*.py[cod]
+*$py.class
+
+# 虚拟环境
+.venv/
+env/
+venv/
+.hatch/
+
+# 编译输出
+dist/
+build/
+*.egg-info/
+
+# 文档输出（mkdocs 已移除，site/ 不再生成）
+# 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
+
+# 内部协议/设计文档（本地副本，不入库）
+AGENTS.md
+PROTOCOL_LINE_BY_LINE.md
+SDK_API_AND_DESIGN.md
+TRAJECTORY_ALGORITHM.md
+plan.md
 aaa.txt

{codroid_robot_sdk-2.1.1 → codroid_robot_sdk-2.1.4}/LICENSE.txt

@@ -1,18 +1,18 @@
-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.
+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-2.1.1 → codroid_robot_sdk-2.1.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: codroid-robot-sdk
-Version: 2.1.1
+Version: 2.1.4
 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
@@ -102,6 +102,10 @@ python3 demo.py
 | `MovJ(target, speed, acceleration)` | 目标：`JointPoint` 或 `CartesianPoint` |
 | `MovL(target, speed, acceleration)` | 目标：`CartesianPoint` 或 `JointPoint` |
 | `Move([MoveInstruction.MovJ(...), ...])` | 多段路径 |
+| `MovJSync(target, speed, acc, wait?)` | 阻塞式关节运动，等待到达目标 |
+| `MovLSync(target, speed, acc, wait?)` | 阻塞式直线运动，等待到达目标 |
+| `MovCSync(middle, target, speed, acc, wait?)` | 阻塞式圆弧运动 |
+| `MoveSync(instructions, wait?)` | 阻塞式路径执行 |
 
 四组合路径示例（与 C++ `04_move` 一致）：
 
@@ -127,7 +131,30 @@ 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（2.1.1）**：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)。
+### 阻塞式运动 API
+
+`*Sync` 方法发送运动指令后自动轮询 CRI 数据，直到机器人稳定到达目标。需要先启动 CRI 数据推送（`StartListenUdp`）。
+
+```python
+from codroid import CodroidClient, JointPoint, MotionWaitOptions
+
+with CodroidClient(host="192.168.1.136") as robot:
+    robot.ConnectRemoteAndSwitchOn()
+    robot.StartListenUdp()
+    robot.WaitForCriData()  # 等待第一个 CRI 包到达
+
+    # 阻塞式关节运动，使用默认等待参数
+    robot.MovJSync(JointPoint.Degrees([0, 0, 90, 0, 90, 0]), speed=40, acceleration=100)
+
+    # 自定义等待参数
+    opts = MotionWaitOptions(timeout=30.0, joint_tolerance_deg=0.5)
+    robot.MovLSync(CartesianPoint.MmDeg([400, 200, 500, 180, 0, 90]),
+                   speed=150, acceleration=500, wait=opts)
+```
+
+`MotionWaitOptions` 可调整超时、轮询间隔、到达容差等参数。
+
+**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 [RELEASE_NOTES.md](RELEASE_NOTES.md)。
 
 ## Windows 控制台 UTF-8
 
@@ -159,6 +186,7 @@ with CodroidClient(host="192.168.1.136") as robot:
 
 ```bash
 PYTHONPATH=src python examples/08_move.py --robot 192.168.8.136
+PYTHONPATH=src python examples/15_sync_motion.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