ezgo 0.0.1__py3-none-any.whl

ezgo/__init__.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+ezgo - 宇树Go2机器狗Python控制库
+
+这是一个用于控制宇树Go2机器狗的Python库，提供了简单易用的API接口。
+支持运动控制、视频流获取、UI界面等功能。
+"""
+
+__version__ = "0.0.1"
+__author__ = "ezgo"
+__email__ = ""
+__license__ = "MIT"
+
+# 导入主要类
+try:
+    from .go2 import Go2
+    from .camera import Camera
+    from .ui import APP
+except ImportError as e:
+    print(f"警告: 无法导入部分模块: {e}")
+    print("请确保已安装所有依赖包")
+    Go2 = None
+    Camera = None
+    APP = None
+
+# 定义公开的API
+__all__ = [
+    "Go2",
+    "Camera", 
+    "APP",
+    "__version__"
+]
+
+# 依赖检查和提示
+def _check_dependencies():
+    """检查关键依赖是否安装，并给出安装提示"""
+    missing_deps = []
+    
+    try:
+        import cv2
+    except ImportError:
+        missing_deps.append("opencv-python")
+    
+    try:
+        import numpy
+    except ImportError:
+        missing_deps.append("numpy")
+    
+    try:
+        from PIL import Image
+    except ImportError:
+        missing_deps.append("Pillow")
+    
+    try:
+        import netifaces
+    except ImportError:
+        missing_deps.append("netifaces")
+    
+    try:
+        import unitree_sdk2py
+    except ImportError:
+        missing_deps.append("unitree-sdk2py")
+    
+    if missing_deps:
+        print("=" * 60)
+        print("警告: ezgo 缺少以下依赖包:")
+        for dep in missing_deps:
+            print(f"  - {dep}")
+        print()
+        print("请安装缺少的依赖包:")
+        print("  pip install opencv-python numpy Pillow netifaces")
+        print("  # unitree-sdk2py 需要从官方源安装")
+        print("=" * 60)
+        return False
+    
+    return True
+
+# 在导入时进行依赖检查
+_check_dependencies()

ezgo/camera.py

@@ -0,0 +1,71 @@
+import cv2
+from PIL import Image, ImageTk
+import platform
+
+class Camera:
+    def __init__(self, index=0, width=640, height=480, fps=30,):
+        self.index = index
+        self.width = width
+        self.height = height
+        self.fps = fps
+
+        self.cap = None
+        # self.open_camera()
+
+    def open_camera(self):
+
+        if platform.system() == "Linux":
+            self.cap = cv2.VideoCapture(self.index, cv2.CAP_V4L2)  # 启用 V4L2 硬件加速
+            fourcc = cv2.VideoWriter_fourcc(*'MJPG')  # 强制硬件压缩的 MJPG 格式（利用 FFMPEG 加速）
+            self.cap.set(cv2.CAP_PROP_FOURCC, fourcc)
+        else:
+            self.cap = cv2.VideoCapture(self.index)
+        
+        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
+        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+        self.cap.set(cv2.CAP_PROP_FPS, self.fps)
+        self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # 清空缓存
+        self.cap.set(cv2.CAP_PROP_AUTOFOCUS, 0)
+
+        if not self.cap.isOpened():
+            raise Exception("无法打开摄像头")
+        actual_width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+        actual_height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        print(f"打开摄像头 {self.index}，分辨率 {actual_width}x{actual_height}，帧率 {self.fps}")
+        
+
+    def read_cv2_image(self):
+        ret, frame = self.cap.read()
+        if not ret:
+            raise Exception("无法读取摄像头帧")
+        return frame
+    
+    def read_pil_image(self):
+        """将BGR帧转换为PIL"""
+        frame = self.read_cv2_image()
+        return self.cv2_to_pil(frame)
+    
+    def cv2_to_tk(self, frame):
+        """将BGR帧转换为Tkinter PhotoImage"""
+        frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        frame_pil = Image.fromarray(frame_rgb)
+        frame_tk = ImageTk.PhotoImage(image=frame_pil)
+        return frame_tk
+    
+    def resize(self, frame, size=(224, 224)):
+        """将图像调整为指定尺寸"""
+        return cv2.resize(frame, size, interpolation=cv2.INTER_LINEAR)
+    
+    def crop_to_square(self, frame):
+        """将图像裁剪为正方形"""
+        h, w = frame.shape[:2]
+        min_dim = min(h, w)
+        y = (h - min_dim) // 2
+        x = (w - min_dim) // 2
+        return frame[y:y+min_dim, x:x+min_dim]
+    
+    def __del__(self):
+        """释放摄像头资源"""
+        if self.cap is not None:
+            self.cap.release()
+

ezgo/go2.py

@@ -0,0 +1,633 @@
+import time
+import threading
+import numpy as np
+import cv2
+import netifaces
+import subprocess
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.go2.sport.sport_client import SportClient
+from unitree_sdk2py.go2.video.video_client import VideoClient
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+
+
+error_code = {
+    100: "灵动",
+    1001: "阻尼",
+    1002: "站立锁定",
+    1004: "蹲下",
+    2006: "蹲下",
+    1006: "打招呼/伸懒腰/舞蹈/拜年/比心/开心",
+    1007: "坐下",
+    1008: "前跳",
+    1009: "扑人",
+    1013: "平衡站立",
+    1015: "常规行走",
+    1016: "常规跑步",
+    1017: "常规续航",
+    1091: "摆姿势",
+    2004: "翻身",   # ???
+    2007: "闪避",
+    2008: "并腿跑",
+    2009: "跳跃跑",
+    2010: "经典",
+    2011: "倒立",
+    2012: "前空翻",
+    2013: "后空翻",
+    2014: "左空翻",
+    2016: "交叉步",
+    2017: "直立",
+    2019: "牵引",
+}
+
+
+class Go2:
+    """
+    宇树Go2 运动控制封装类
+    适用于：Unitree SDK2 Python接口
+    """
+    def __init__(self, interface=None, timeout=20.0):
+        """
+        初始化控制器
+        :param interface: 网卡接口名称
+        :param timeout: 超时时间（秒）
+        """
+        self.interface = interface
+        self.timeout = timeout
+        self.sport_client = None
+        self.video_client = None
+        self.cap = None
+        self.error_code = 0  # 状态码
+        
+        # 移动控制相关变量
+        self._moving = False
+        self._move_params = (0, 0, 0)
+        self._move_thread = None
+
+        if self.interface is None:
+            self.get_interface()
+
+    def get_interface(self):
+        """获取当前接口"""
+
+        interfaces = netifaces.interfaces()
+        for iface in interfaces:
+            if iface.startswith("en"):
+                self.interface = iface
+                break
+
+    def check_go2_connection(self):
+        """检查机器狗IP连通性"""
+        try:
+            # 使用sudo ping检查机器狗IP (192.168.123.161是Go2的默认IP)
+            result = subprocess.run(['sudo', 'ping', '-c', '1', '-W', '2', '192.168.123.161'], 
+                                  capture_output=True, text=True, timeout=5)
+            return result.returncode == 0
+        except subprocess.TimeoutExpired:
+            print("ping超时")
+            return False
+        except Exception as e:
+            print(f"检查连接时出错: {e}")
+            return False
+        
+
+
+
+    def init(self):
+        """初始化与Go2的连接"""
+        
+        # 检查机器狗IP连通性
+        if not self.check_go2_connection():
+            print("无法连接到机器狗，请检查网络连接")
+            return False
+        
+        ChannelFactoryInitialize(0, self.interface)
+
+        # 启动状态订阅
+        self.sub_state(self.callback)
+
+        # 初始化运动控制客户端
+        self.sport_client = SportClient()
+        self.sport_client.SetTimeout(self.timeout)
+        self.sport_client.Init()
+        # 初始化视频流客户端
+        # self.video_client = VideoClient()
+        # self.video_client.SetTimeout(self.timeout)
+        # self.video_client.Init()
+        self.cap = self.open_video()
+        
+        return True
+        
+
+    def open_video(self, width: int = 480, height: int = 320):
+        """打开视频流"""
+        gstreamer_str = (
+            f"udpsrc address=230.1.1.1 port=1720 multicast-iface={self.interface} "
+            "! application/x-rtp, media=video, encoding-name=H264 "
+            "! rtph264depay ! h264parse "
+            "! avdec_h264 "  # 解码H.264
+            "! videoscale "  # 添加缩放元素，用于调整分辨率
+            f"! video/x-raw,width={width},height={height} "  # 目标分辨率
+            "! videoconvert ! video/x-raw, format=BGR "  # 转换为OpenCV支持的BGR格式
+            "! appsink drop=1"
+        )
+        cap = cv2.VideoCapture(gstreamer_str, cv2.CAP_GSTREAMER)
+        if not cap.isOpened():
+            print("视频流打开失败")
+            return
+        return cap
+
+    def read_image(self):
+        """从视频流获取一帧图像"""
+        ret, frame = self.cap.read()
+        if not ret:
+            print("读取图像失败")
+            return None
+        return frame
+
+    
+    def sub_state(self, callback, queue_size: int = 5):
+        subscriber = ChannelSubscriber("rt/sportmodestate", SportModeState_)
+        subscriber.Init(callback, queue_size)
+
+    def callback(self, msg):
+        self.error_code = msg.error_code
+
+
+    # def read_image(self):
+    #     """从视频流获取一帧图像"""
+    #     code, data = self.video_client.GetImageSample()
+    #     if code != 0 or data is None:
+    #         print("获取图像样本失败，错误码:", code)
+    #         return None
+    #     image_data = np.frombuffer(bytes(data), dtype=np.uint8)
+    #     image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
+    #     return image
+
+    def Damp(self):
+        """进入阻尼状态。"""
+        self._call(self.sport_client.Damp)
+
+    def BalanceStand(self):
+        """解除锁定。"""
+        self._call(self.sport_client.BalanceStand)
+
+    def StopMove(self):
+        """停下当前动作，将绝大多数指令恢复成默认值。"""
+        print("停止移动")
+        # 停止持续移动线程
+        self._moving = False
+        if hasattr(self, '_move_thread') and self._move_thread.is_alive():
+            self._move_thread.join(timeout=1.0)
+        
+        # 调用SDK的停止方法
+        self._call(self.sport_client.StopMove)
+
+    def _call(self, func, *args, **kwargs):
+        """在线程中调用运动控制函数"""
+        def fun_thread():
+            ret = func(*args, **kwargs)
+            print(f"{func.__name__} 执行结果:", ret)
+        
+        t = threading.Thread(target=fun_thread)
+        t.start()
+        t.join()  # 等待线程完成
+
+
+
+    def StandUp(self):
+        """
+        关节锁定，站高。
+        执行后状态: 1002:站立锁定
+        """
+        # 执行前判断状态
+        if self.error_code in [1002]:  # 1002 :站立锁定
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1001, 1007, 1013]:  # 100 :灵动, 1001 :阻尼, 1013 :平衡站立
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        self._call(self.sport_client.StandUp)
+
+
+
+    def StandDown(self):
+        """
+        关节锁定，站低。
+        执行后状态: 1001:阻尼
+        """
+        # 执行前判断状态
+        if self.error_code in [1001, 1004, 2006]:  # 1001:阻尼 1004 :蹲下 2006 :蹲下
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 100 :灵动, 1001 :阻尼, 1013 :平衡站立
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.StandDown)
+
+    def RecoveryStand(self):
+        """	恢复站立。"""
+        self._call(self.sport_client.RecoveryStand)
+
+    def Euler(self, roll, pitch, yaw):
+        """站立和行走时的姿态。"""
+        pass
+
+    def Move(self, vx, vy, vyaw):
+        """移动。"""
+        # 检查状态是否允许移动
+        if self.error_code not in [100, 1002, 1013]:  # 100:灵动, 1002:站立锁定, 1013:平衡站立
+            print(f"当前状态不允许移动: {self.error_code} - {error_code.get(self.error_code, '未知状态')}")
+            return False
+        
+        # 限制速度范围
+        vx = max(-1.0, min(1.0, vx))  # 前后速度限制在-1到1之间
+        vy = max(-1.0, min(1.0, vy))  # 左右速度限制在-1到1之间
+        vyaw = max(-2.0, min(2.0, vyaw))  # 转动速度限制在-2到2之间
+        
+        def move_thread():
+            ret = self.sport_client.Move(vx, vy, vyaw)
+            success = ret == 0
+            print(f"Move 执行结果: {ret}, 成功: {success}")
+            return success
+        
+        t = threading.Thread(target=move_thread)
+        t.start()
+        t.join()
+        return True
+
+    def MoveForDuration(self, vx, vy, vyaw, duration):
+        """
+        持续移动指定时间
+        
+        Args:
+            vx (float): 前后速度 (-1.0 到 1.0)
+            vy (float): 左右速度 (-1.0 到 1.0)  
+            vyaw (float): 转动速度 (-2.0 到 2.0)
+            duration (float): 移动时间（秒）
+            
+        Returns:
+            bool: 是否成功执行
+        """
+        print(f"开始移动: vx={vx}, vy={vy}, vyaw={vyaw}, 持续时间={duration}秒")
+        start_time = time.time()
+        
+        try:
+            while time.time() - start_time < duration:
+                if not self.Move(vx, vy, vyaw):
+                    return False
+                time.sleep(0.1)  # 每100ms调用一次
+            
+            print("移动完成")
+            return True
+            
+        except KeyboardInterrupt:
+            print("移动被用户中断")
+            return False
+
+    def Forward(self, speed=0.3, duration=2.0):
+        """向前移动"""
+        return self.MoveForDuration(speed, 0, 0, duration)
+
+    def Backward(self, speed=0.3, duration=2.0):
+        """向后移动"""
+        return self.MoveForDuration(-speed, 0, 0, duration)
+
+    def Left(self, speed=0.3, duration=2.0):
+        """向左移动"""
+        return self.MoveForDuration(0, speed, 0, duration)
+
+    def Right(self, speed=0.3, duration=2.0):
+        """向右移动"""
+        return self.MoveForDuration(0, -speed, 0, duration)
+
+    def TurnLeft(self, speed=0.5, duration=2.0):
+        """左转"""
+        return self.MoveForDuration(0, 0, speed, duration)
+
+    def TurnRight(self, speed=0.5, duration=2.0):
+        """右转"""
+        return self.MoveForDuration(0, 0, -speed, duration)
+
+    def StartMove(self, vx, vy, vyaw):
+        """
+        开始持续移动，需要调用StopMove来停止
+        
+        Args:
+            vx (float): 前后速度 (-1.0 到 1.0)
+            vy (float): 左右速度 (-1.0 到 1.0)  
+            vyaw (float): 转动速度 (-2.0 到 2.0)
+            
+        Returns:
+            bool: 是否成功开始移动
+        """
+        print(f"开始持续移动: vx={vx}, vy={vy}, vyaw={vyaw}")
+        self._moving = True
+        self._move_params = (vx, vy, vyaw)
+        
+        def continuous_move():
+            while self._moving:
+                if not self.Move(vx, vy, vyaw):
+                    break
+                time.sleep(0.1)
+        
+        self._move_thread = threading.Thread(target=continuous_move)
+        self._move_thread.daemon = True  # 设置为守护线程
+        self._move_thread.start()
+        return True
+
+    def StartForward(self, speed=0.3):
+        """开始向前移动"""
+        return self.StartMove(speed, 0, 0)
+
+    def StartBackward(self, speed=0.3):
+        """开始向后移动"""
+        return self.StartMove(-speed, 0, 0)
+
+    def StartLeft(self, speed=0.3):
+        """开始向左移动"""
+        return self.StartMove(0, speed, 0)
+
+    def StartRight(self, speed=0.3):
+        """开始向右移动"""
+        return self.StartMove(0, -speed, 0)
+
+    def StartTurnLeft(self, speed=0.5):
+        """开始左转"""
+        return self.StartMove(0, 0, speed)
+
+    def StartTurnRight(self, speed=0.5):
+        """开始右转"""
+        return self.StartMove(0, 0, -speed)
+
+    def Sit(self):
+        """
+        坐下。
+        执行后状态: 1007: 坐下
+        """
+        # 执行前判断状态
+        if self.error_code in [1007]:  # 1007 : 坐下
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 100 :灵动, 1001 :阻尼, 1013 :平衡站立
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Sit)
+
+    def RiseSit(self):
+        """
+        站起（相对于坐下）。
+        执行后状态: 
+        """
+        # 执行前判断状态
+        if self.error_code in [1007]:  # 1002 :站立锁定
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1007, 1013]:  # 100 :灵动, 1007 : 坐下, 1013 :平衡站立
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.RiseSit)
+
+
+
+    def SpeedLevel(self, level: int):
+        """设置速度档位。"""
+        pass
+
+    def Hello(self):
+        """
+        打招呼
+        执行后状态: 1013:平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+
+        # 执行指令
+        self._call(self.sport_client.Hello)
+
+    def Stretch(self):
+        """
+        伸懒腰。
+        执行后状态: 1013:平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 站立且空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Stretch)
+
+
+
+    def Content(self):
+        """
+        开心。
+        执行后状态: 1013:平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Content)
+
+
+    def Heart(self):
+        """
+        比心。
+        执行后状态: 1013:平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Heart)
+
+
+    def Pose(self, flag):
+        """摆姿势。"""
+        pass
+
+    def Scrape(self):
+        """ 
+        拜年作揖。
+        执行后状态: 1013:平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Scrape)
+
+
+
+    def FrontJump(self):
+        """ 
+        前跳。
+        执行后状态: 1013: 平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1008]:  # 1008 : 前跳
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.FrontJump)
+
+
+
+    def FrontPounce(self):
+        """ 
+        向前扑人。
+        执行后状态: 1013: 平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1009]:  # 1009 : 扑人
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.FrontPounce)
+
+
+    def Dance1(self):
+        """
+        舞蹈段落1。
+        执行后状态: 1013: 平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Dance1)
+    
+    def Dance2(self):
+        """
+        舞蹈段落2。
+        执行后状态: 1013: 平衡站立
+        """
+        # 执行前判断状态
+        if self.error_code in [1006]:  # 1006 :打招呼/伸懒腰/舞蹈/拜年/比心/开心
+            print("当前状态:", self.error_code, error_code[self.error_code], "无需执行")
+            return
+        if self.error_code not in [100, 1002, 1013]:  # 空闲状态
+            print("繁忙中,当前状态:", self.error_code, error_code[self.error_code])
+            return
+        
+        # 执行指令
+        self._call(self.sport_client.Dance2)
+    
+    def HandStand(self, flag: int):
+        """倒立行走。"""
+        pass
+
+    def LeftFlip(self):
+        """左空翻。"""
+        pass
+
+    def BackFlip(self):
+        """后空翻。"""
+        pass
+
+    def FreeWalk(self, flag: int):
+        """ 灵动模式（默认步态）。"""
+        pass
+
+    def FreeBound(self, flag: int):
+        """ 并腿跑模式。"""
+        pass
+
+    def FreeJump(self, flag: int):
+        """ 跳跃模式。"""
+        pass
+
+    def FreeAvoid(self, flag: int):
+        """ 闪避模式。"""
+        pass
+
+    def WalkUpright(self, flag: int):
+        """ 后腿直立模式。"""
+        pass
+
+    def CrossStep(self, flag: int):
+        """ 交叉步模式。"""
+        pass
+
+    def AutoRecoverSet(self, flag: int):
+        """ 设置自动翻身是否生效。"""
+        pass
+
+    def AutoRecoverGet(self):
+        """ 查询自动翻身是否生效。"""
+        pass
+
+    def ClassicWalk(self, flag: int):
+        """ 经典步态。"""
+        pass
+
+    def TrotRun(self):
+        """ 进入常规跑步模式 """
+        pass
+
+    def StaticWalk(self):
+        """ 进入常规行走模式"""
+        pass
+
+    def EconomicGait(self):
+        """ 进入常规续航模式 """
+        pass
+
+    def SwitchAvoidMode(self):
+        """ 闪避模式下，关闭摇杆未推时前方障碍物的闪避以及后方的障碍物躲避"""
+        pass
+
+
+
+
+# -------------------- 测试 --------------------
+if __name__ == "__main__":
+    interface = "enx00e0986113a6"  # 替换为你的Go2网卡接口名称
+    
+    go2 = Go2(interface=interface)
+
+    go2.stand_down()
+    go2.stand_up()

ezgo/ui.py

@@ -0,0 +1,77 @@
+import tkinter as tk
+import platform
+import os
+
+
+if platform.system() == "Linux":
+    os.environ["DISPLAY"] = ":0"
+
+class APP(tk.Tk):
+    def __init__(self, title="APP", width=480, height=800):
+        super().__init__()
+        self.title_text = title
+        self.title(self.title_text)
+        self.geometry(f"{width}x{height}")
+        
+        if platform.system() == "Linux":
+            self.resizable(False, False)  # 固定窗口大小
+            self.attributes('-fullscreen', True)  # 全屏
+            self.config(cursor="none")  # 隐藏鼠标
+            self.update_idletasks()  # 强制立即应用全屏，避免闪烁/延迟
+        
+        # 显示图像和文字的全局变量
+        self.image = None  # 显示的图像
+        self.text = ""  # 显示的文字
+
+        self.is_running = True  # 程序运行状态
+
+        # 初始化组件
+        self.create_widgets()
+        # 绑定窗口关闭事件
+        self.protocol("WM_DELETE_WINDOW", self.on_close)
+
+    def create_widgets(self):
+        # 标题
+        title_label = tk.Label(self, text=self.title_text, font=("SimHei", 18))
+        title_label.pack(pady=5)
+
+        # 图像显示区域
+        self.frame1 = tk.LabelFrame(self, text="图像", width=480, height=480, font=("SimHei", 10))
+        self.frame1.pack_propagate(False)
+        self.frame1.pack(fill=tk.X, pady=5)
+        self.image_label = tk.Label(self.frame1)
+        self.image_label.pack(pady=5, fill=tk.BOTH, expand=True, anchor=tk.CENTER)
+
+        # 文字显示区域
+        self.frame2 = tk.LabelFrame(self, text="结果", width=480, height=200, font=("SimHei", 10))
+        self.frame2.pack_propagate(False)
+        self.frame2.pack(fill=tk.X, pady=5)
+        self.text_label = tk.Label(self.frame2, 
+                                   text="文本显示", 
+                                   font=("SimHei", 14),
+                                   wraplength=450,
+                                   justify=tk.CENTER,)
+        self.text_label.pack(pady=5, fill=tk.BOTH, expand=True, anchor=tk.CENTER)
+
+
+        # 退出按钮
+        self.exit_btn = tk.Button(self, text="退出", command=self.on_close, font=("SimHei", 16))
+        self.exit_btn.pack(pady=10)
+
+    
+    def set_image(self, image):
+        """设置显示的图像"""
+        self.image = image
+        self.image_label.config(image=self.image)
+
+    def set_text(self, text):
+        """设置显示的文字"""
+        self.text = text
+        self.text_label.config(text=self.text)
+
+    def on_close(self):
+        """窗口关闭/退出按钮回调"""
+        self.is_running = False
+        self.quit()  # 退出主循环
+        self.destroy()  # 销毁窗口
+

ezgo-0.0.1.dist-info/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 ezgo
+
+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.

ezgo-0.0.1.dist-info/METADATA

@@ -0,0 +1,295 @@
+Metadata-Version: 2.1
+Name: ezgo
+Version: 0.0.1
+Summary: 宇树Go2机器狗Python控制库
+Author-email: ezgo <noreply@example.com>
+License: MIT
+Project-URL: Homepage, https://github.com/your-username/ezgo
+Project-URL: Repository, https://github.com/your-username/ezgo
+Project-URL: Bug Reports, https://github.com/your-username/ezgo/issues
+Keywords: robotics,unitree,go2,robot,control
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.7
+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: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.7
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Provides-Extra: basic
+Requires-Dist: opencv-python>=4.5.0; extra == "basic"
+Requires-Dist: numpy>=1.19.0; extra == "basic"
+Requires-Dist: Pillow>=8.0.0; extra == "basic"
+Provides-Extra: full
+Requires-Dist: opencv-python>=4.5.0; extra == "full"
+Requires-Dist: numpy>=1.19.0; extra == "full"
+Requires-Dist: Pillow>=8.0.0; extra == "full"
+Requires-Dist: netifaces>=0.10.0; extra == "full"
+Requires-Dist: unitree-sdk2py; extra == "full"
+
+# ezgo - 宇树Go2机器狗Python控制库
+
+[![PyPI version](https://badge.fury.io/py/ezgo.svg)](https://badge.fury.io/py/ezgo)
+[![Python versions](https://img.shields.io/pypi/pyversions/ezgo.svg)](https://pypi.org/project/ezgo/)
+[![License](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT)
+
+ezgo 是一个用于控制宇树Go2机器狗的Python库，提供了简单易用的API接口，支持运动控制、视频流获取、UI界面等功能。
+
+## 功能特性
+
+- 🤖 **运动控制**: 支持前进、后退、转向、舞蹈等多种动作
+- 📹 **视频流**: 实时获取机器狗摄像头画面
+- 🎮 **状态管理**: 智能状态检测和动作切换
+- 🖥️ **UI界面**: 提供简单的图形界面用于显示和控制
+- 🔧 **易于集成**: 简洁的API设计，便于快速开发
+
+## 安装
+
+### 使用pip安装
+
+```bash
+pip install ezgo
+```
+
+### 从源码安装
+
+```bash
+git clone https://github.com/your-username/ezgo.git
+cd ezgo
+pip install -e .
+```
+
+## 系统要求
+
+在安装 ezgo 之前，请确保您的系统已安装以下依赖：
+
+```bash
+# Ubuntu/Debian
+sudo apt update
+sudo apt install python3-opencv python3-numpy python3-pil
+
+# CentOS/RHEL
+sudo yum install opencv-python numpy Pillow
+
+# macOS
+brew install opencv
+
+# Windows
+# 请使用 pip 安装或下载预编译的二进制包
+pip install opencv-python numpy Pillow
+```
+
+**注意**: ezgo 不会自动安装这些依赖，因为它们可能需要系统级安装或特定配置。
+
+## 快速开始
+
+### 基本使用
+
+```python
+from ezgo import Go2
+
+# 初始化Go2控制器
+go2 = Go2(interface="enx00e0986113a6")  # 替换为你的网卡接口
+
+# 初始化连接
+if go2.init():
+    print("连接成功！")
+    
+    # 基本动作
+    go2.StandUp()        # 站立
+    go2.Forward(0.3, 2)  # 向前移动2秒
+    go2.TurnLeft(0.5, 1) # 左转1秒
+    go2.Hello()          # 打招呼
+    go2.Damp()           # 进入阻尼状态
+else:
+    print("连接失败！")
+```
+
+### 视频流使用
+
+```python
+import cv2
+from ezgo import Go2
+
+# 初始化
+go2 = Go2()
+if go2.init():
+    print("开始获取视频流...")
+    
+    while True:
+        frame = go2.read_image()
+        if frame is not None:
+            cv2.imshow('Go2 Camera', frame)
+            
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+    
+    cv2.destroyAllWindows()
+```
+
+### UI界面使用
+
+```python
+from ezgo.ui import APP
+from ezgo.camera import Camera
+import time
+
+# 创建UI应用
+app = APP(title="Go2控制面板", width=480, height=800)
+
+# 创建摄像头
+camera = Camera(index=0)
+camera.open_camera()
+
+# 更新界面
+while app.is_running:
+    try:
+        # 获取摄像头图像
+        frame = camera.read_cv2_image()
+        image_tk = camera.cv2_to_tk(frame)
+        app.set_image(image_tk)
+        app.set_text("系统运行正常")
+        
+        app.update()
+        time.sleep(0.03)  # 约30FPS
+    except Exception as e:
+        print(f"更新界面出错: {e}")
+        break
+
+app.mainloop()
+```
+
+## API 文档
+
+### Go2 类
+
+主要的机器狗控制类，提供以下方法：
+
+#### 运动控制
+- `StandUp()` - 站立
+- `StandDown()` - 蹲下
+- `Sit()` - 坐下
+- `Damp()` - 进入阻尼状态
+- `BalanceStand()` - 平衡站立
+- `StopMove()` - 停止移动
+
+#### 移动控制
+- `Move(vx, vy, vyaw)` - 移动控制
+- `Forward(speed, duration)` - 向前移动
+- `Backward(speed, duration)` - 向后移动
+- `Left(speed, duration)` - 向左移动
+- `Right(speed, duration)` - 向右移动
+- `TurnLeft(speed, duration)` - 左转
+- `TurnRight(speed, duration)` - 右转
+
+#### 动作控制
+- `Hello()` - 打招呼
+- `Stretch()` - 伸懒腰
+- `Content()` - 开心
+- `Heart()` - 比心
+- `Scrape()` - 拜年作揖
+- `Dance1()` - 舞蹈1
+- `Dance2()` - 舞蹈2
+- `FrontJump()` - 前跳
+- `FrontPounce()` - 向前扑人
+
+#### 视频控制
+- `read_image()` - 获取一帧图像
+- `open_video(width, height)` - 打开视频流
+
+### Camera 类
+
+摄像头控制类，提供以下方法：
+- `open_camera()` - 打开摄像头
+- `read_cv2_image()` - 读取OpenCV格式图像
+- `read_pil_image()` - 读取PIL格式图像
+- `cv2_to_tk(frame)` - 转换为Tkinter格式
+- `resize(frame, size)` - 调整图像尺寸
+- `crop_to_square(frame)` - 裁剪为正方形
+
+### APP 类
+
+UI界面类，基于Tkinter：
+- `set_image(image)` - 设置显示图像
+- `set_text(text)` - 设置显示文字
+
+## 项目结构
+
+```
+ezgo/
+├── src/
+│   ├── __init__.py      # 包初始化文件
+│   ├── go2.py          # Go2机器狗控制类
+│   ├── camera.py       # 摄像头控制类
+│   └── ui.py           # UI界面类
+├── pyproject.toml      # 现代Python项目配置
+├── README.md          # 项目文档
+├── LICENSE            # 开源协议
+├── quick_update.py    # 快速更新脚本
+└── .pypirc           # PyPI配置文件
+```
+
+## 开发指南
+
+### 本地开发
+
+```bash
+# 克隆仓库
+git clone https://github.com/your-username/ezgo.git
+cd ezgo
+
+# 安装开发依赖
+pip install -e .
+
+# 运行测试
+python -m pytest tests/
+```
+
+### 发布新版本
+
+```bash
+# 更新补丁版本
+python quick_update.py patch
+
+# 更新次版本
+python quick_update.py minor
+
+# 更新主版本
+python quick_update.py major
+
+# 发布到PyPI
+python quick_update.py publish
+```
+
+## 常见问题
+
+### Q: 连接机器狗失败怎么办？
+A: 请检查网络连接，确保机器狗IP (192.168.123.161) 可以ping通，并确认网卡接口名称正确。
+
+### Q: 视频流无法打开？
+A: 请检查GStreamer是否正确安装，以及网卡多播配置是否正确。
+
+### Q: 某些动作无法执行？
+A: 请检查机器狗当前状态，某些动作需要在特定状态下才能执行。
+
+## 贡献
+
+欢迎提交 Issue 和 Pull Request！
+
+## 许可证
+
+本项目采用 MIT 许可证 - 详见 [LICENSE](LICENSE) 文件。
+
+## 更新日志
+
+### v0.0.1 (2024-01-01)
+- 初始版本发布
+- 基本运动控制功能
+- 视频流获取功能
+- UI界面功能

ezgo-0.0.1.dist-info/RECORD

@@ -0,0 +1,9 @@
+ezgo/__init__.py,sha256=qDPgcBaUNokuBFBLW7DwmZ53sdZh-VTReHOab1a6yZw,1918
+ezgo/camera.py,sha256=Vsr44vFtaop4LE0DlWyOHyvxF-jHnVO8iMPUwp5mbsE,2538
+ezgo/go2.py,sha256=6-wjSGKfKfR1f9qfmhU9x8gwfeapei2Kx1CqUd9xAhE,20818
+ezgo/ui.py,sha256=jUik6maaoemI2vsBM92OLZfJfskg54W7hwMls_gxppg,2777
+ezgo-0.0.1.dist-info/LICENSE,sha256=Zk4eZBT3KaBhqM3LB_xN7QquwnoWsEHAoA6eLdE6W5M,1060
+ezgo-0.0.1.dist-info/METADATA,sha256=ZzisKNb6JDsXTFT0H8zcWSCfYALHHQMnndwLrz7efbI,7765
+ezgo-0.0.1.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+ezgo-0.0.1.dist-info/top_level.txt,sha256=BdCFEVD5V_4FxUtvH0BVlZKgxYnp7EKNsYs5OyFxj-g,5
+ezgo-0.0.1.dist-info/RECORD,,

ezgo-0.0.1.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (75.3.2)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

ezgo-0.0.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+ezgo