ezgo 0.0.4__py3-none-any.whl → 0.0.5__py3-none-any.whl

ezgo/__init__.py

@@ -8,7 +8,7 @@ ezgo - 宇树Go2机器狗Python控制库
 支持运动控制、视频流获取、UI界面等功能。
 """
 
-__version__ = "0.0.4"
+__version__ = "0.0.5"
 __author__ = "ezgo"
 __email__ = ""
 __license__ = "MIT"

ezgo/go2.py

@@ -87,7 +87,13 @@ class Go2:
     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)
+            # 先尝试不使用sudo ping
+            result = subprocess.run(['ping', '-c', '1', '-W', '2', '192.168.123.161'], 
+                                  capture_output=True, text=True, timeout=5)
+            if result.returncode == 0:
+                return True
+            
+            # 如果不使用sudo失败，尝试使用sudo
             result = subprocess.run(['sudo', 'ping', '-c', '1', '-W', '2', '192.168.123.161'], 
                                   capture_output=True, text=True, timeout=5)
             return result.returncode == 0
@@ -104,26 +110,31 @@ class Go2:
     def init(self):
         """初始化与Go2的连接"""
         
-        # 检查机器狗IP连通性
+        # 检查机器狗IP连通性（仅作为警告，不阻止初始化）
         if not self.check_go2_connection():
-            print("无法连接到机器狗，请检查网络连接")
-            return False
+            print("警告：无法ping通机器狗IP，但继续尝试初始化SDK")
+            print("请确保机器狗已开机且网络连接正常")
         
-        ChannelFactoryInitialize(0, self.interface)
+        try:
+            ChannelFactoryInitialize(0, self.interface)
 
-        # 启动状态订阅
-        self.sub_state(self.callback)
+            # 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()
-        
-        # 注意：视频流不再自动初始化，按需开启
-        # self.cap = self.open_video()  # 移除自动初始化
-        
-        self._initialized = True
-        return True
+            # 初始化运动控制客户端
+            self.sport_client = SportClient()
+            self.sport_client.SetTimeout(self.timeout)
+            self.sport_client.Init()
+            
+            # 注意：视频流不再自动初始化，按需开启
+            # self.cap = self.open_video()  # 移除自动初始化
+            
+            self._initialized = True
+            print("Go2 SDK初始化成功")
+            return True
+        except Exception as e:
+            print(f"SDK初始化失败: {e}")
+            return False
         
 
     def open_video(self, width: int = 480, height: int = 320):
@@ -594,67 +605,174 @@ class Go2:
     
     def HandStand(self, flag: int):
         """倒立行走。"""
-        pass
+        # 执行指令
+        self._call(lambda: self.sport_client.HandStand(bool(flag)))
+        if flag:
+            time.sleep(4)
+            self._call(lambda: self.sport_client.HandStand(False))
 
     def LeftFlip(self):
         """左空翻。"""
-        pass
+        # 执行指令
+        result = self._call(self.sport_client.LeftFlip)
+        return result == 0 if result is not None else False
 
     def BackFlip(self):
         """后空翻。"""
-        pass
+        # 执行指令
+        result = self._call(self.sport_client.BackFlip)
+        return result == 0 if result is not None else False
 
-    def FreeWalk(self, flag: int):
+    def FreeWalk(self, flag: int = None):
         """ 灵动模式（默认步态）。"""
-        pass
+        # 执行指令
+        if flag is None:
+            # 切换模式
+            result = self._call(lambda: self.sport_client.FreeWalk())
+        else:
+            # 根据flag值执行相应操作
+            if flag:
+                # 开启灵动模式
+                result = self._call(lambda: self.sport_client.FreeWalk())
+            else:
+                # 关闭灵动模式 - 切换到其他模式
+                result = self._call(lambda: self.sport_client.StandUp())
+        return result == 0 if result is not None else False
 
     def FreeBound(self, flag: int):
         """ 并腿跑模式。"""
-        pass
+        # 执行指令
+        result = self._call(lambda: self.sport_client.FreeBound(bool(flag)))
+        success = result == 0 if result is not None else False
+        
+        if flag and success:
+            # 如果成功开启，等待2秒后自动关闭（这是为了演示效果）
+            time.sleep(2)
+            self._call(lambda: self.sport_client.FreeBound(False))
+        
+        return success
 
     def FreeJump(self, flag: int):
         """ 跳跃模式。"""
-        pass
+        # 执行指令
+        result = self._call(lambda: self.sport_client.FreeJump(bool(flag)))
+        success = result == 0 if result is not None else False
+        
+        if flag and success:
+            # 如果成功开启，等待4秒后自动关闭（这是为了演示效果）
+            time.sleep(4)
+            self._call(lambda: self.sport_client.FreeJump(False))
+        
+        return success
 
     def FreeAvoid(self, flag: int):
         """ 闪避模式。"""
-        pass
+        # 执行指令
+        result = self._call(lambda: self.sport_client.FreeAvoid(bool(flag)))
+        success = result == 0 if result is not None else False
+        
+        if flag and success:
+            # 如果成功开启，等待2秒后自动关闭（这是为了演示效果）
+            time.sleep(2)
+            self._call(lambda: self.sport_client.FreeAvoid(False))
+        
+        return success
 
     def WalkUpright(self, flag: int):
         """ 后腿直立模式。"""
-        pass
+        # 执行指令
+        result = self._call(lambda: self.sport_client.WalkUpright(bool(flag)))
+        success = result == 0 if result is not None else False
+        
+        if flag and success:
+            # 如果成功开启，等待4秒后自动关闭（这是为了演示效果）
+            time.sleep(4)
+            self._call(lambda: self.sport_client.WalkUpright(False))
+        
+        return success
 
     def CrossStep(self, flag: int):
         """ 交叉步模式。"""
-        pass
+        # 执行指令
+        result = self._call(lambda: self.sport_client.CrossStep(bool(flag)))
+        success = result == 0 if result is not None else False
+        
+        if flag and success:
+            # 如果成功开启，等待4秒后自动关闭（这是为了演示效果）
+            time.sleep(4)
+            self._call(lambda: self.sport_client.CrossStep(False))
+        
+        return success
 
     def AutoRecoverSet(self, flag: int):
         """ 设置自动翻身是否生效。"""
-        pass
+        try:
+            # 执行指令
+            result = self._call(lambda: self.sport_client.AutoRecoverSet(bool(flag)))
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: AutoRecoverSet 方法在当前SDK版本中不可用")
+            return False
 
     def AutoRecoverGet(self):
         """ 查询自动翻身是否生效。"""
-        pass
+        try:
+            # 执行指令
+            result = self._call(self.sport_client.AutoRecoverGet)
+            return result if result is not None else False
+        except AttributeError:
+            print("警告: AutoRecoverGet 方法在当前SDK版本中不可用")
+            return False
 
     def ClassicWalk(self, flag: int):
         """ 经典步态。"""
-        pass
+        try:
+            # 执行指令
+            result = self._call(lambda: self.sport_client.ClassicWalk(bool(flag)))
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: ClassicWalk 方法在当前SDK版本中不可用")
+            return False
 
     def TrotRun(self):
         """ 进入常规跑步模式 """
-        pass
+        try:
+            # 执行指令
+            result = self._call(self.sport_client.TrotRun)
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: TrotRun 方法在当前SDK版本中不可用")
+            return False
 
     def StaticWalk(self):
         """ 进入常规行走模式"""
-        pass
+        try:
+            # 执行指令
+            result = self._call(self.sport_client.StaticWalk)
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: StaticWalk 方法在当前SDK版本中不可用")
+            return False
 
     def EconomicGait(self):
         """ 进入常规续航模式 """
-        pass
+        try:
+            # 执行指令
+            result = self._call(self.sport_client.EconomicGait)
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: EconomicGait 方法在当前SDK版本中不可用")
+            return False
 
     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
+        try:
+            # 执行指令
+            result = self._call(self.sport_client.SwitchAvoidMode)
+            return result == 0 if result is not None else False
+        except AttributeError:
+            print("警告: SwitchAvoidMode 方法在当前SDK版本中不可用")
+            return False
     
     def get_camera(self):
         """
@@ -674,7 +792,7 @@ class Go2:
         """
         获取声光控制对象（按需初始化）
         
-        Returns:
+        Returns:  
             Go2VUI: 声光控制对象
         """
         if not hasattr(self, '_vui') or self._vui is None:

{ezgo-0.0.4.dist-info → ezgo-0.0.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ezgo
-Version: 0.0.4
+Version: 0.0.5
 Summary: 宇树Go2机器狗Python控制库
 Author-email: ezgo <noreply@example.com>
 License: MIT

ezgo-0.0.5.dist-info/RECORD

@@ -0,0 +1,11 @@
+ezgo/__init__.py,sha256=6OsmnWvKm2s_BqjwPGTqeYpYt4XUybSAOnvOdDJzCLw,1978
+ezgo/camera.py,sha256=Vsr44vFtaop4LE0DlWyOHyvxF-jHnVO8iMPUwp5mbsE,2538
+ezgo/go2.py,sha256=lSZwpYRAljcV4bAalkZXvs9X-qMaEGcuaHSNegGcX6M,31610
+ezgo/go2_camera.py,sha256=nawUSLyvqTNiVRQ2sM-UdoJzqwZcySltLbCfUb0G9Qc,8614
+ezgo/go2_vui.py,sha256=52I4Y8uqGkW9muDEnDzQ236HqVVTIgNIN_2gW5RTC48,10161
+ezgo/ui.py,sha256=jUik6maaoemI2vsBM92OLZfJfskg54W7hwMls_gxppg,2777
+ezgo-0.0.5.dist-info/LICENSE,sha256=Zk4eZBT3KaBhqM3LB_xN7QquwnoWsEHAoA6eLdE6W5M,1060
+ezgo-0.0.5.dist-info/METADATA,sha256=Mooo_ZwJzl44ylJkPQHgsFUdV0nwCf0HZaxMuyKvsso,6869
+ezgo-0.0.5.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+ezgo-0.0.5.dist-info/top_level.txt,sha256=BdCFEVD5V_4FxUtvH0BVlZKgxYnp7EKNsYs5OyFxj-g,5
+ezgo-0.0.5.dist-info/RECORD,,

ezgo-0.0.4.dist-info/RECORD

@@ -1,11 +0,0 @@
-ezgo/__init__.py,sha256=k2oP52F-SZ6VBDE33l8cTJbEDGxlJLL7S9rZBBtFdYc,1978
-ezgo/camera.py,sha256=Vsr44vFtaop4LE0DlWyOHyvxF-jHnVO8iMPUwp5mbsE,2538
-ezgo/go2.py,sha256=V0bZ6frGIArop-lOoN6ybMekf7qfWv4jb7aWLxEHdkQ,25845
-ezgo/go2_camera.py,sha256=nawUSLyvqTNiVRQ2sM-UdoJzqwZcySltLbCfUb0G9Qc,8614
-ezgo/go2_vui.py,sha256=52I4Y8uqGkW9muDEnDzQ236HqVVTIgNIN_2gW5RTC48,10161
-ezgo/ui.py,sha256=jUik6maaoemI2vsBM92OLZfJfskg54W7hwMls_gxppg,2777
-ezgo-0.0.4.dist-info/LICENSE,sha256=Zk4eZBT3KaBhqM3LB_xN7QquwnoWsEHAoA6eLdE6W5M,1060
-ezgo-0.0.4.dist-info/METADATA,sha256=cOE5dut6FpLvbY3AUyYM8Y14PlicnuYZ9_RluuYXVWQ,6869
-ezgo-0.0.4.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-ezgo-0.0.4.dist-info/top_level.txt,sha256=BdCFEVD5V_4FxUtvH0BVlZKgxYnp7EKNsYs5OyFxj-g,5
-ezgo-0.0.4.dist-info/RECORD,,