pymycobot 3.5.0.dev7__tar.gz → 3.5.0.dev8__tar.gz

{pymycobot-3.5.0.dev7/pymycobot.egg-info → pymycobot-3.5.0.dev8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev7
+Version: 3.5.0.dev8
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev7 → pymycobot-3.5.0.dev8}/pymycobot/__init__.py

@@ -61,7 +61,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev7" 
+__version__ = "3.5.0dev8" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev7 → pymycobot-3.5.0.dev8}/pymycobot/common.py

@@ -3,12 +3,8 @@
 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
@@ -81,14 +77,11 @@ 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
@@ -100,8 +93,6 @@ 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
@@ -211,7 +202,7 @@ class ProtocolCode(object):
     GET_JOINT_CURRENT = 0x91
     SET_CURRENT_STATE = 0x92
     GET_POS_OVER = 0x94
-    CLEAR_ENCODERS_ERROR = 0xEA
+    CLEAR_ENCODERS_ERROR = 0x95
     GET_DOWN_ENCODERS = 0x96
 
     # planning speed
@@ -233,15 +224,13 @@ 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
@@ -325,17 +314,6 @@ 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.dev7 → pymycobot-3.5.0.dev8}/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', 'pin_signal']:
+        elif parameter in ['rftype', 'move_type', 'end', 'is_linear', 'status', 'mode', 'direction']:
             check_0_or_1(parameter, value, [0, 1],
                          value_type, exception_class, int)
         elif parameter == 'acceleration':
@@ -244,7 +244,7 @@ def calibration_parameters(**kwargs):
             "coords_max": [441.37, 441.37, 628.02, 180, 180, 180]
         },
         "MercurySocket": {
-            "id": [1, 2, 3, 4, 5, 6, 11, 12],
+            "id": [1, 2, 3, 4, 5, 6, 11, 12, 13],
             "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],
@@ -346,10 +346,11 @@ def calibration_parameters(**kwargs):
                          [parameter], MercuryDataException)
             elif parameter == 'angle':
                 id = kwargs.get('id', None)
-                if id in [11, 12, 13]:
-                    index = robot_limit[class_name]['id'][id-5] - 5
+                if id in [11, 12]:
+                    index = id - 5
                 else:
                     index = robot_limit[class_name]['id'][id-1] - 1
+                print(index)
                 if value < robot_limit[class_name]["angles_min"][index] or value > robot_limit[class_name]["angles_max"][index]:
                     raise MercuryDataException(
                         "angle value not right, should be {0} ~ {1}, but received {2}".format(
@@ -388,7 +389,8 @@ def calibration_parameters(**kwargs):
 
             elif parameter == 'rgb':
                 check_rgb_value(value, MercuryDataException, class_name)
-            elif parameter in ['direction', 'flag', 'value', 'mode', 'pin_signal']:
+            # if direction is not None:
+            elif parameter in ['direction', 'flag', 'value']:
                 if value not in [0, 1]:
                     raise MercuryDataException(
                         "{} only supports 0 or 1, but received {}".format(parameter, value))
@@ -403,17 +405,17 @@ def calibration_parameters(**kwargs):
                     raise MercuryDataException(
                         "The angle range is -90° ~ 90°, but received {}".format(value))
             elif parameter == 'address':
-                if value < 5 or value > 69:
+                if value < 32 or value > 34:
                     raise MercuryDataException(
-                        "The address range is 5 ~ 69, but received {}".format(value))
+                        "The angle address is 32 ~ 34, 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, 254]:
+                if value not in [1, 2, 3, 4, 5, 6, 7, 13, 254]:
                     raise MercuryDataException(
-                        "The joint_id should be in [1,2,3,4,5,6,,254], but received {}".format(value))
+                        "The joint_id should be in [1,2,3,4,5,6,7,13,254], but received {}".format(value))
             elif parameter == "data_len":
                 if value < 1 or value > 45:
                     raise MercuryDataException(
@@ -422,38 +424,6 @@ 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.dev7 → pymycobot-3.5.0.dev8}/pymycobot/log.py

@@ -1,7 +1,6 @@
 # coding=utf-8
 
 import logging
-import logging.handlers
 
 
 def setup_logging(debug=False):
@@ -15,11 +14,6 @@ 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.dev7 → pymycobot-3.5.0.dev8}/pymycobot/mercury.py

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