openjigware 0.1.0__py3-none-any.whl

openjigware/__init__.py

@@ -0,0 +1,284 @@
+"""
+openjigware — OpenJigWare .NET 라이브러리의 Python 바인딩 (Windows/Linux/macOS 공용)
+
+사용법:
+    from openjigware import Ojw
+
+    dxl = Ojw.CProtocol2()        # Dynamixel Protocol 2.0
+    dxl.Open(0, 1000000)
+
+    c3d = Ojw.C3d()               # 3D / DH / IK
+
+필요 조건:
+    - pythonnet (pip 의존성으로 자동 설치)
+    - .NET 8+ CoreCLR 런타임. 없으면 관리자 권한 없이 사용자 폴더에 자동 설치(최초 1회, 인터넷 필요).
+        Windows: %LOCALAPPDATA%\\OpenJigWare\\dotnet
+        Linux/macOS: ~/.local/share/openjigware/dotnet
+      OJW_NO_BOOTSTRAP=1 이면 자동 설치를 끄고 안내 에러만 낸다.
+
+패키징 메모:
+    - OpenJigWare.dll 및 의존 어셈블리는 이 패키지의 _libs/ 에 동봉된다(pip 설치 시 함께 배포).
+    - pip 로 추출된 DLL 은 MOTW(Zone.Identifier) 가 없어 Windows SmartScreen 차단을 회피한다.
+      (Smart App Control '켜짐' 최강 모드만 코드 서명이 별도로 필요.)
+    - 이 파일의 로더 로직은 examples/shared/ojw.py 와 동일 계열이다(단, lib 경로는 _libs 고정).
+"""
+import os
+import sys
+import platform
+
+__version__ = "0.1.0"
+
+
+# ---------------------------------------------------------------------------
+# .NET 런타임 탐색 / 부트스트랩
+# ---------------------------------------------------------------------------
+def _netcore_versions(root):
+    """<root>/shared/Microsoft.NETCore.App 아래 설치된 major 버전 목록."""
+    base = os.path.join(root, "shared", "Microsoft.NETCore.App")
+    majors = []
+    if os.path.isdir(base):
+        for name in os.listdir(base):
+            head = name.split(".", 1)[0]
+            if head.isdigit():
+                majors.append(int(head))
+    return majors
+
+
+def _has_netcore8(root):
+    """root 가 유효한 dotnet 루트이고 Microsoft.NETCore.App 8+ 를 포함하는가."""
+    if not root or not os.path.isdir(root):
+        return False
+    return any(v >= 8 for v in _netcore_versions(root))
+
+
+def _bootstrap_dir():
+    """자동 설치 대상 폴더 (사용자 권한)."""
+    if platform.system() == "Windows":
+        base = os.environ.get("LOCALAPPDATA") or os.path.expanduser("~")
+        return os.path.join(base, "OpenJigWare", "dotnet")
+    return os.path.expanduser("~/.local/share/openjigware/dotnet")
+
+
+def _find_dotnet_root():
+    """DOTNET_ROOT → PATH → 기본 설치 경로 → 부트스트랩 폴더 순으로 .NET 8+ 탐색."""
+    import shutil
+
+    candidates = []
+
+    env_root = os.environ.get("DOTNET_ROOT")
+    if env_root:
+        candidates.append(env_root)
+
+    exe = shutil.which("dotnet")
+    if exe:
+        candidates.append(os.path.dirname(os.path.realpath(exe)))
+
+    if platform.system() == "Windows":
+        for var in ("ProgramFiles", "ProgramW6432", "ProgramFiles(x86)"):
+            pf = os.environ.get(var)
+            if pf:
+                candidates.append(os.path.join(pf, "dotnet"))
+        la = os.environ.get("LOCALAPPDATA")
+        if la:
+            candidates.append(os.path.join(la, "Microsoft", "dotnet"))
+    else:
+        candidates += [
+            "/usr/lib/dotnet", "/usr/share/dotnet", "/usr/local/share/dotnet",
+            os.path.expanduser("~/.dotnet"),
+        ]
+
+    candidates.append(_bootstrap_dir())
+
+    seen = set()
+    for root in candidates:
+        root = os.path.abspath(root)
+        if root in seen:
+            continue
+        seen.add(root)
+        if _has_netcore8(root):
+            return root
+    return None
+
+
+def _bootstrap_dotnet():
+    """공식 dotnet-install 스크립트로 .NET 8 런타임을 사용자 폴더에 설치(관리자 불필요)."""
+    if os.environ.get("OJW_NO_BOOTSTRAP"):
+        return None
+
+    import subprocess
+    import tempfile
+    import urllib.request
+
+    install_dir = _bootstrap_dir()
+    is_win = platform.system() == "Windows"
+    url = "https://dot.net/v1/dotnet-install." + ("ps1" if is_win else "sh")
+
+    sys.stderr.write(
+        "[openjigware] .NET 8 런타임이 없어 사용자 폴더에 자동 설치합니다 (최초 1회, 인터넷 필요)\n"
+        "[openjigware]   설치 위치: {}\n".format(install_dir)
+    )
+    sys.stderr.flush()
+
+    try:
+        os.makedirs(install_dir, exist_ok=True)
+        suffix = ".ps1" if is_win else ".sh"
+        fd, script = tempfile.mkstemp(suffix=suffix, prefix="dotnet-install-")
+        os.close(fd)
+        urllib.request.urlretrieve(url, script)
+
+        if is_win:
+            cmd = [
+                "powershell", "-NoProfile", "-ExecutionPolicy", "Bypass",
+                "-File", script,
+                "-Runtime", "dotnet", "-Channel", "8.0",
+                "-InstallDir", install_dir, "-NoPath",
+            ]
+        else:
+            os.chmod(script, 0o755)
+            cmd = [
+                "bash", script,
+                "--runtime", "dotnet", "--channel", "8.0",
+                "--install-dir", install_dir, "--no-path",
+            ]
+
+        rc = subprocess.call(cmd)
+        try:
+            os.remove(script)
+        except OSError:
+            pass
+
+        if rc == 0 and _has_netcore8(install_dir):
+            sys.stderr.write("[openjigware] .NET 8 런타임 설치 완료: {}\n".format(install_dir))
+            sys.stderr.flush()
+            return install_dir
+        sys.stderr.write("[openjigware] .NET 자동 설치 실패 (dotnet-install rc={})\n".format(rc))
+    except Exception as e:  # noqa: BLE001 - 안내 목적, 세부 예외는 메시지로 노출
+        sys.stderr.write("[openjigware] .NET 자동 설치 중 오류: {}\n".format(e))
+    sys.stderr.flush()
+    return None
+
+
+def _init_runtime():
+    """.NET 8 (CoreCLR) 초기화. 런타임을 찾거나 자동 설치한 뒤 pythonnet 을 CoreCLR 로 로드."""
+    try:
+        from pythonnet import load
+    except ImportError as e:
+        raise RuntimeError(
+            "pythonnet 이 필요합니다. 설치: pip install pythonnet\n"
+            "  (원인: {})".format(e)
+        )
+
+    root = _find_dotnet_root()
+    if root is None:
+        root = _bootstrap_dotnet()
+
+    if root is None:
+        hint = ""
+        if os.environ.get("OJW_NO_BOOTSTRAP"):
+            hint = "  OJW_NO_BOOTSTRAP 가 설정되어 자동 설치를 건너뛰었습니다.\n"
+        raise RuntimeError(
+            ".NET 8+ CoreCLR 런타임을 찾지 못했습니다.\n"
+            + hint +
+            "  수동 설치: https://dotnet.microsoft.com/download/dotnet/8.0 (Runtime)\n"
+            "  또는 DOTNET_ROOT 를 유효한 .NET 8 루트로 지정하세요."
+        )
+
+    os.environ["DOTNET_ROOT"] = root
+    os.environ["PATH"] = root + os.pathsep + os.environ.get("PATH", "")
+
+    try:
+        load("coreclr", dotnet_root=root)
+    except TypeError:
+        load("coreclr")
+
+
+def _clear_motw(lib_dir):
+    """Windows MOTW(Zone.Identifier ADS) 해제 — 관리자 불필요. LoadFrom 차단 예방."""
+    if platform.system() != "Windows":
+        return
+    for base, _dirs, files in os.walk(lib_dir):
+        for name in files:
+            if name.lower().endswith((".dll", ".exe")):
+                try:
+                    os.remove(os.path.join(base, name) + ":Zone.Identifier")
+                except OSError:
+                    pass
+
+
+def _find_lib_dir():
+    """동봉된 _libs 폴더(패키지 내부)를 우선, OJW_DLL 환경변수로 재정의 가능."""
+    env = os.environ.get("OJW_DLL")
+    if env and os.path.isfile(os.path.join(env, "OpenJigWare.dll")):
+        return os.path.abspath(env)
+    bundled = os.path.join(os.path.dirname(os.path.abspath(__file__)), "_libs")
+    if os.path.isfile(os.path.join(bundled, "OpenJigWare.dll")):
+        return bundled
+    return None
+
+
+def _load_dll(lib_dir):
+    """OpenJigWare.dll + OS별 System.IO.Ports 실제 구현체 로드."""
+    import clr
+    sys.path.insert(0, lib_dir)
+
+    system = platform.system()
+
+    # pythonnet 3.x 는 clr.AddReference(fullpath) 를 assembly name 으로 오인하므로
+    # 파일 경로 로드는 Assembly.LoadFrom 을 직접 사용한다.
+    def _load_path(dll_path):
+        if not os.path.exists(dll_path):
+            return False
+        try:
+            from System.Reflection import Assembly
+            Assembly.LoadFrom(dll_path)
+            return True
+        except Exception as e:
+            print("[openjigware] warn: LoadFrom failed for {}: {}".format(dll_path, e))
+            return False
+
+    if system == "Windows":
+        _load_path(os.path.join(lib_dir, "runtimes", "win", "lib", "net8.0", "System.IO.Ports.dll"))
+    elif system in ("Linux", "Darwin"):
+        _load_path(os.path.join(lib_dir, "runtimes", "unix", "lib", "net8.0", "System.IO.Ports.dll"))
+
+        import ctypes
+        if system == "Linux":
+            arch = platform.machine().lower()
+            rids = ["linux-x64", "linux-arm64", "linux-arm"] if arch in ("x86_64", "amd64") else [f"linux-{arch}", "linux-arm64", "linux-arm"]
+            for rid in rids:
+                so = os.path.join(lib_dir, "runtimes", rid, "native", "libSystem.IO.Ports.Native.so")
+                if os.path.exists(so):
+                    try:
+                        ctypes.cdll.LoadLibrary(so)
+                        break
+                    except OSError:
+                        pass
+        else:  # Darwin
+            for rid in ["osx-x64", "osx-arm64"]:
+                dylib = os.path.join(lib_dir, "runtimes", rid, "native", "libSystem.IO.Ports.Native.dylib")
+                if os.path.exists(dylib):
+                    try:
+                        ctypes.cdll.LoadLibrary(dylib)
+                        break
+                    except OSError:
+                        pass
+
+    if not _load_path(os.path.join(lib_dir, "OpenJigWare.dll")):
+        clr.AddReference("OpenJigWare")
+
+
+# 초기화 (순서: lib 탐색 → MOTW 해제 → 런타임 → DLL 로드)
+_lib_dir = _find_lib_dir()
+if _lib_dir is None:
+    raise RuntimeError(
+        "OpenJigWare.dll 를 찾을 수 없습니다. 패키지가 손상됐거나 _libs 가 누락됐습니다.\n"
+        "  재설치: pip install --force-reinstall openjigware"
+    )
+
+_clear_motw(_lib_dir)
+_init_runtime()
+_load_dll(_lib_dir)
+
+from OpenJigWare import Ojw  # noqa: E402
+
+__all__ = ["Ojw", "__version__"]

openjigware/_libs/OpenJigWare.deps.json

@@ -0,0 +1,281 @@
+{
+  "runtimeTarget": {
+    "name": ".NETCoreApp,Version=v8.0",
+    "signature": ""
+  },
+  "compilationOptions": {},
+  "targets": {
+    ".NETCoreApp,Version=v8.0": {
+      "OpenJigWare/1.0.0": {
+        "dependencies": {
+          "Microsoft.Win32.Registry": "5.0.0",
+          "System.Drawing.Common": "8.0.0",
+          "System.IO.Ports": "8.0.0",
+          "System.Management": "8.0.0"
+        },
+        "runtime": {
+          "OpenJigWare.dll": {}
+        }
+      },
+      "Microsoft.NETCore.Platforms/5.0.0": {},
+      "Microsoft.Win32.Registry/5.0.0": {
+        "dependencies": {
+          "System.Security.AccessControl": "5.0.0",
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+        }
+      },
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+        "runtime": {
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+            "fileVersion": "0.0.0.0"
+          }
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+          }
+        }
+      },
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+  },
+  "libraries": {
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openjigware-0.1.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: openjigware
+Version: 0.1.0
+Summary: Python bindings for the OpenJigWare .NET robotics library (Dynamixel protocols, forward/inverse kinematics, DH/URDF, 3D)
+Author: OpenJigWare
+License: MIT
+Project-URL: Homepage, https://github.com/oroca/OpenJigWare
+Project-URL: Source, https://github.com/oroca/OpenJigWare
+Keywords: robotics,dynamixel,kinematics,inverse-kinematics,urdf,dh,openjigware,pythonnet,dotnet
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Programming Language :: Python :: 3
+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: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: C#
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pythonnet>=3.0.3
+Dynamic: license-file
+
+# OpenJigWare (Python)
+
+Python bindings for the **OpenJigWare** .NET robotics library — Dynamixel
+protocols, forward/inverse kinematics, DH parameters, URDF/MJCF/USD export,
+and a browser-based 3D viewer. Runs on **Windows, Linux, and macOS**.
+
+```bash
+pip install openjigware
+```
+
+```python
+from openjigware import Ojw
+
+# Dynamixel Protocol 2.0
+dxl = Ojw.CProtocol2()
+dxl.Open(0, 1000000)
+
+# 3D / DH / inverse kinematics
+c3d = Ojw.C3d()
+```
+
+## How it works
+
+`openjigware` ships the compiled `OpenJigWare.dll` (a cross-platform .NET 8
+assembly) inside the wheel and loads it through
+[pythonnet](https://pypi.org/project/pythonnet/).
+
+- **pythonnet** is installed automatically as a dependency.
+- **.NET 8 runtime**: if a suitable CoreCLR runtime is not found, it is
+  installed automatically into a user folder — no admin rights required
+  (first run only, needs internet):
+  - Windows: `%LOCALAPPDATA%\OpenJigWare\dotnet`
+  - Linux/macOS: `~/.local/share/openjigware/dotnet`
+
+  Set `OJW_NO_BOOTSTRAP=1` to disable auto-install (a clear error is raised
+  instead). Point `DOTNET_ROOT` at an existing .NET 8 root to use your own.
+
+## Windows security note
+
+Because pip extracts the bundled DLLs locally, they carry **no Mark-of-the-Web
+(Zone.Identifier)** tag — so the SmartScreen "blocked / unknown publisher"
+failures that plague manually-copied DLLs do not occur. Windows 11 **Smart App
+Control** in its strictest enforced mode may still require Authenticode code
+signing, which is outside the scope of pip.
+
+## Requirements
+
+- Python 3.8+
+- pythonnet 3.0.3+ (installed automatically)
+- .NET 8+ runtime (installed automatically if missing)
+
+## License
+
+MIT — see [LICENSE](LICENSE).

openjigware-0.1.0.dist-info/RECORD

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openjigware-0.1.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: setuptools (83.0.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

openjigware-0.1.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 OpenJigWare
+
+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.

openjigware-0.1.0.dist-info/top_level.txt

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+openjigware