pymycobot 3.5.0.dev5__tar.gz → 3.5.0.dev7__tar.gz

{pymycobot-3.5.0.dev5/pymycobot.egg-info → pymycobot-3.5.0.dev7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev5
+Version: 3.5.0.dev7
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev5 → pymycobot-3.5.0.dev7}/pymycobot/__init__.py

@@ -61,7 +61,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev5" 
+__version__ = "3.5.0dev7" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev5 → pymycobot-3.5.0.dev7}/pymycobot/common.py

@@ -3,8 +3,12 @@
 from __future__ import division
 import time
 import struct
+import logging
 import sys
 
+from pymycobot.log import setup_logging
+from pymycobot.error import calibration_parameters
+
 
 class ProtocolCode(object):
     # BASIC
@@ -77,11 +81,14 @@ class ProtocolCode(object):
     JOG_ABSOLUTE = 0x31
     JOG_COORD = 0x32
     JOG_INCREMENT = 0x33
+    JOG_INCREMENT_COORD = 0x34
+    
     JOG_STOP = 0x34
     JOG_INCREMENT_COORD = 0x34
     
     COBOTX_GET_SOLUTION_ANGLES = 0x35
     COBOTX_SET_SOLUTION_ANGLES = 0x36
+    JOG_BASE_INCREMENT_COORD = 0x37
     
     SET_ENCODER = 0x3A
     GET_ENCODER = 0x3B
@@ -93,6 +100,8 @@ class ProtocolCode(object):
     GET_SPEED = 0x40
     SET_SPEED = 0x41
     GET_FEED_OVERRIDE = 0x42
+    GET_MAX_ACC = 0x42
+    SET_MAX_ACC = 0x43
     GET_ACCELERATION = 0x44
     SET_ACCELERATION = 0x45
     GET_JOINT_MIN_ANGLE = 0x4A
@@ -202,7 +211,7 @@ class ProtocolCode(object):
     GET_JOINT_CURRENT = 0x91
     SET_CURRENT_STATE = 0x92
     GET_POS_OVER = 0x94
-    CLEAR_ENCODERS_ERROR = 0x95
+    CLEAR_ENCODERS_ERROR = 0xEA
     GET_DOWN_ENCODERS = 0x96
 
     # planning speed
@@ -224,13 +233,15 @@ class ProtocolCode(object):
     GET_SERVO_LASTPDI = 0xE6
     SERVO_RESTORE = 0xE7
     SET_VOID_COMPENSATE = 0xE7
-    SET_ERROR_DETECT_MODE = 0xE8
-    GET_ERROR_DETECT_MODE = 0xE9
+    # SET_ERROR_DETECT_MODE = 0xE8
+    # GET_ERROR_DETECT_MODE = 0xE9
     
     MERCURY_GET_BASE_COORDS = 0xF0
     MERCURY_SET_BASE_COORD = 0xF1
     MERCURY_SET_BASE_COORDS = 0xF2
     MERCURY_JOG_BASE_COORD = 0xF3
+    GET_MONITOR_MODE = 0xFB
+    SET_MONITOR_MODE = 0xFC
     
     MERCURY_DRAG_TECH_SAVE = 0x70
     MERCURY_DRAG_TECH_EXECUTE = 0x71
@@ -314,6 +325,17 @@ class ProtocolCode(object):
 
 
 class DataProcessor(object):
+    def __init__(self, debug=False):
+        """
+        Args:
+            debug    : whether show debug info
+        """
+        self._version = sys.version_info[:2][0]
+        self.debug = debug
+        setup_logging(self.debug)
+        self.log = logging.getLogger(__name__)
+        self.calibration_parameters = calibration_parameters
+        
     def _mesg(self, genre, *args, **kwargs):
         """
         Args:

{pymycobot-3.5.0.dev5 → pymycobot-3.5.0.dev7}/pymycobot/error.py

@@ -149,7 +149,7 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
         # TODO 280/320共用MyCobot，无法进行数据限位
         # elif parameter == 'coords':
         #     check_coords(value, robot_limit, class_name, exception_class)
-        elif parameter in ['rftype', 'move_type', 'end', 'is_linear', 'status', 'mode', 'direction']:
+        elif parameter in ['rftype', 'move_type', 'end', 'is_linear', 'status', 'mode', 'direction', 'pin_signal']:
             check_0_or_1(parameter, value, [0, 1],
                          value_type, exception_class, int)
         elif parameter == 'acceleration':
@@ -237,16 +237,16 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
 def calibration_parameters(**kwargs):
     robot_limit = {
         "Mercury": {
-            "id": [1, 2, 3, 4, 5, 6, 11, 12, 13],
-            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138, -118],
-            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188, 118],
+            "id": [1, 2, 3, 4, 5, 6, 11, 12],
+            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138],
+            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min": [-441.37, -441.37, -206.52, -180, -180, -180],
             "coords_max": [441.37, 441.37, 628.02, 180, 180, 180]
         },
         "MercurySocket": {
-            "id": [1, 2, 3, 4, 5, 6, 11, 12, 13],
-            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138, -118],
-            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188, 118],
+            "id": [1, 2, 3, 4, 5, 6, 11, 12],
+            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138],
+            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min": [-441.37, -441.37, -206.52, -180, -180, -180],
             "coords_max": [441.37, 441.37, 628.02, 180, 180, 180]
         },
@@ -347,7 +347,7 @@ def calibration_parameters(**kwargs):
             elif parameter == 'angle':
                 id = kwargs.get('id', None)
                 if id in [11, 12, 13]:
-                    index = robot_limit[class_name]['id'][id-4] - 4
+                    index = robot_limit[class_name]['id'][id-5] - 5
                 else:
                     index = robot_limit[class_name]['id'][id-1] - 1
                 if value < robot_limit[class_name]["angles_min"][index] or value > robot_limit[class_name]["angles_max"][index]:
@@ -388,8 +388,7 @@ def calibration_parameters(**kwargs):
 
             elif parameter == 'rgb':
                 check_rgb_value(value, MercuryDataException, class_name)
-            # if direction is not None:
-            elif parameter in ['direction', 'flag', 'value']:
+            elif parameter in ['direction', 'flag', 'value', 'mode', 'pin_signal']:
                 if value not in [0, 1]:
                     raise MercuryDataException(
                         "{} only supports 0 or 1, but received {}".format(parameter, value))
@@ -404,17 +403,17 @@ def calibration_parameters(**kwargs):
                     raise MercuryDataException(
                         "The angle range is -90° ~ 90°, but received {}".format(value))
             elif parameter == 'address':
-                if value < 32 or value > 34:
+                if value < 5 or value > 69:
                     raise MercuryDataException(
-                        "The angle address is 32 ~ 34, but received {}".format(value))
+                        "The address range is 5 ~ 69, but received {}".format(value))
             elif parameter == 'value':
                 if value < 1 or value > 32000:
                     raise MercuryDataException(
                         "The angle value is 1 ~ 32000, but received {}".format(value))
             elif parameter == "servo_restore":
-                if value not in [1, 2, 3, 4, 5, 6, 7, 13, 254]:
+                if value not in [1, 2, 3, 4, 5, 6, 254]:
                     raise MercuryDataException(
-                        "The joint_id should be in [1,2,3,4,5,6,7,13,254], but received {}".format(value))
+                        "The joint_id should be in [1,2,3,4,5,6,,254], but received {}".format(value))
             elif parameter == "data_len":
                 if value < 1 or value > 45:
                     raise MercuryDataException(
@@ -423,6 +422,38 @@ def calibration_parameters(**kwargs):
                 if value < 0:
                     raise MercuryDataException(
                         "The parameter max_time must be greater than or equal to 0, but received {}".format(value))
+            elif parameter == "max_acc":
+                mode = kwargs.get("mode", None)
+                if mode == 0:
+                    if value < 1 or value > 150:
+                        raise MercuryDataException(
+                            "The parameter max_acc data range only supports 1 ~ 150, but received {}".format(value))
+                elif mode == 1:
+                    if value < 1 or value > 400:
+                        raise MercuryDataException(
+                            "The parameter max_acc data range only supports 1 ~ 400, but received {}".format(value))
+            elif parameter == "servo_id":
+                if value not in [11,12]:
+                    raise MercuryDataException(
+                            "The parameter servo_id data range only supports 11 or 12, but received {}".format(value))
+            elif parameter == "max_speed":
+                mode = kwargs.get("mode", None)
+                if mode == 0:
+                    min_speed = 1
+                    max_speed = 150
+                    if value < min_speed or value > max_speed:
+                        raise MercuryDataException(
+                                "The parameter max_speed data range only supports {} ~ {}, but received {}".format(min_speed, max_speed, value))
+                elif mode == 1:
+                    min_speed = 1
+                    max_speed = 200
+                    if value < min_speed or value > max_speed:
+                        raise MercuryDataException(
+                                "The parameter max_speed data range only supports {} ~ {}, but received {}".format(min_speed, max_speed, value))
+            elif parameter in ['gripper_type', 'pin_no']:
+                value_type = type(value)
+                check_0_or_1(parameter, value, [1, 2], value_type, MercuryDataException, int)
+                
     elif class_name == "MyAgv":
         for parameter in parameter_list[1:]:
             value = kwargs.get(parameter, None)

{pymycobot-3.5.0.dev5 → pymycobot-3.5.0.dev7}/pymycobot/log.py

@@ -1,6 +1,7 @@
 # coding=utf-8
 
 import logging
+import logging.handlers
 
 
 def setup_logging(debug=False):
@@ -14,6 +15,11 @@ def setup_logging(debug=False):
     logger_handle.setFormatter(debug_fomatter)
     if debug:
         logger_handle.setLevel(logging.DEBUG)
+        # 100M日志
+        save = logging.handlers.RotatingFileHandler(
+        "python_debug.log", maxBytes=100*1024*1024, backupCount=1)
+        save.setFormatter(debug_fomatter)
+        root_logger.addHandler(save)
     else:
         logger_handle.setLevel(logging.WARNING)
 

{pymycobot-3.5.0.dev5 → pymycobot-3.5.0.dev7}/pymycobot/mercury.py

@@ -29,7 +29,8 @@ class Mercury(MercuryCommandGenerator):
         self.lock = threading.Lock()
         self.has_reply_command = []
         self.is_stop = False
-        self.read_threading = threading.Thread(target=self.read_thread, daemon=True)
+        self.read_threading = threading.Thread(target=self.read_thread)
+        self.read_threading.daemon = True
         self.read_threading.start()
 
     def open(self):