hex-device 1.3.4__py3-none-any.whl

hex_device/__init__.py

@@ -0,0 +1,189 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Jecjune. All rights reserved.
+# Author: Jecjune zejun.chen@hexfellow.com
+# Date  : 2025-8-1
+################################################################
+"""
+HexDevice Python Library
+
+A Python library for controlling HexDevice robots and devices.
+"""
+
+import logging
+
+# Configure default logging for the hex_device package
+# Users can override this configuration if needed
+def _setup_default_logging():
+    """Setup default logging configuration for hex_device package"""
+    logger = logging.getLogger('hex_device')
+    
+    # Only add handler if no handlers exist (avoid duplicate handlers)
+    if not logger.handlers:
+        # Create handler
+        handler = logging.StreamHandler()
+        
+        # Create formatter
+        formatter = logging.Formatter(
+            '%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+            datefmt='%Y-%m-%d %H:%M:%S'
+        )
+        handler.setFormatter(formatter)
+        
+        # Add handler to logger
+        logger.addHandler(handler)
+        
+        # Set default level to INFO (so DEBUG are not shown by default)
+        # Users can change this by calling logging.getLogger('hex_device').setLevel(logging.INFO)
+        logger.setLevel(logging.INFO)
+        
+        # Prevent propagation to root logger to avoid duplicate messages
+        logger.propagate = False
+
+# Setup default logging
+_setup_default_logging()
+
+def set_log_level(level):
+    """
+    Set the logging level for hex_device package
+    
+    Args:
+        level: Logging level (logging.DEBUG, logging.INFO, logging.WARNING, logging.ERROR)
+               or string ('DEBUG', 'INFO', 'WARNING', 'ERROR')
+    
+    Example:
+        import hex_device
+        import logging
+        
+        # Enable INFO level logging
+        hex_device.set_log_level(logging.INFO)
+        # or
+        hex_device.set_log_level('INFO')
+    """
+    logger = logging.getLogger('hex_device')
+    
+    if isinstance(level, str):
+        level = getattr(logging, level.upper())
+    
+    logger.setLevel(level)
+
+def get_logger():
+    """
+    Get the hex_device logger
+    
+    Returns:
+        logging.Logger: The hex_device package logger
+        
+    Example:
+        import hex_device
+        logger = hex_device.get_logger()
+        logger.info("Custom log message")
+    """
+    return logging.getLogger('hex_device')
+
+# Core classes
+from .device_base import DeviceBase
+from .device_base_optional import OptionalDeviceBase
+from .device_factory import DeviceFactory
+from .motor_base import (
+    MotorBase, 
+    MotorError, 
+    MotorCommand, 
+    CommandType, 
+    MitMotorCommand
+)
+
+# Device implementations
+from .arm import Arm
+from .chassis import Chassis
+from .linear_lift import LinearLift
+
+# Optional device implementations
+from .hands import Hands
+
+# Arm configuration system
+from .arm_config import (
+    ArmConfig,
+    ArmConfigManager, 
+    DofType,
+    JointParam,
+    JointParams,
+    load_default_arm_config,
+    get_arm_config,
+    add_arm_config,
+    arm_config_manager,
+    set_arm_initial_positions,
+    set_arm_initial_velocities,
+    clear_arm_position_history,
+    clear_arm_velocity_history,
+    clear_arm_motion_history,
+    get_arm_last_positions,
+    get_arm_last_velocities
+)
+
+# Error types
+from .error_type import WsError, ProtocolError
+
+# API utilities  
+from .hex_device_api import HexDeviceApi
+
+# Define what gets imported with "from hex_device import *"
+__all__ = [
+    # Core classes
+    'DeviceBase',
+    'OptionalDeviceBase',
+    'DeviceFactory',
+    'MotorBase',
+    'MotorError',
+    'MotorCommand',
+    'CommandType',
+    'MitMotorCommand',
+    
+    # Device implementations
+    'Arm',
+    'Chassis',
+    'LinearLift',
+    
+    # Optional device implementations
+    'Hands',
+
+    # Arm configuration system
+    'ArmConfig',
+    'ArmConfigManager',
+    'DofType',
+    'JointParam',
+    'JointParams',
+    'load_default_arm_config',
+    'get_arm_config',
+    'add_arm_config',
+    'arm_config_manager',
+    'set_arm_initial_positions',
+    'set_arm_initial_velocities',
+    'clear_arm_position_history',
+    'clear_arm_velocity_history',
+    'clear_arm_motion_history',
+    'get_arm_last_positions',
+    'get_arm_last_velocities',
+
+    # Error types
+    'WsError',
+    'ProtocolError',
+
+    # API utilities
+    'HexDeviceApi',
+    
+    # Logging functionality
+    'set_log_level',
+    'get_logger',
+
+    # Version information
+    '__version__',
+    '__author__',
+    '__email__'
+]
+
+# Version information
+__version__ = "1.0.0"
+__author__ = "Jecjune"
+__email__ = "zejun.chen@hexfellow.com"