rcb4 0.0.2__tar.gz

rcb4-0.0.2/LICENSE

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+Copyright (c) 2023 Iori Yanokura.
+
+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.

rcb4-0.0.2/MANIFEST.in

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+include README.md
+include requirements.txt

rcb4-0.0.2/PKG-INFO

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+Metadata-Version: 2.1
+Name: rcb4
+Version: 0.0.2
+Summary: A python library for RCB4
+Home-page: https://github.com/iory/rcb4
+Author: Iori Yanokura
+Author-email: yanokura@jsk.imi.i.u-tokyo.ac.jp
+License: MIT
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: Natural Language :: English
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: colorama
+Requires-Dist: cstruct
+Requires-Dist: gdown
+Requires-Dist: libusb1
+Requires-Dist: numpy
+Requires-Dist: pandas
+Requires-Dist: pyelftools
+Requires-Dist: pyserial
+Requires-Dist: tabulate
+
+# rcb4
+
+## Contributing
+
+### Automatic Formatting
+This repository uses `ruff` for both linting and formatting which is configured in `pyproject.toml`, you can run with:
+```
+pip install ruff
+ruff format
+ruff check --fix .
+```
+
+## For JSK Users
+
+### Worm Gear Module Calibration Tool
+
+`armh7-tools` provides a comprehensive solution for calibrating and managing worm gear modules connected via the `ARMH7Interface`.
+It facilitates the calibration of worm gears, reading of calibrated sensor data, and real-time display of sensor and worm gear values.
+Designed for flexibility, it supports operations like calibration data update and in-place modification of YAML configuration files.
+
+#### YAML Configuration Format
+
+The calibration tool requires an input YAML file for worm gear modules configuration. 
+This file contains a list of worm gears with their associated parameters: `worm_id`, `servo_id`, `sensor_id`,
+and initial magnetic encoder value `magenc_init`.
+Each worm gear is represented by a line in the YAML file with its parameters encapsulated in curly braces and prefixed by a dash, indicating a list item in YAML syntax.
+
+```
+ - {worm_id: 0, servo_id: 0, sensor_id: 38, magenc_init: 6502}
+ - {worm_id: 1, servo_id: 2, sensor_id: 40, magenc_init: 3039}
+ - {worm_id: 3, servo_id: 6, sensor_id: 44, magenc_init: 9502}
+```
+
+#### Reading Worm Gear Modules's calibration data
+
+```
+armh7-tools read-calib [--device DEVICE] output_file_path
+```
+
+`--device`, `-d`: Specify the device port. (Default: None)
+`output_file_path`: Path to output the YAML file with calibration data.
+
+
+##### Example
+
+```
+armh7-tools read-calib ./worm_calib.yaml
+```
+
+#### Calibrate Worm Gear Modules
+
+```
+armh7-tools calibrate [--device DEVICE] file_path [--inplace] [--update] [--output OUTPUT]
+```
+
+`--device`, `-d`: Specify the device port. (Default: None)
+`file_path`: Path to the input YAML file containing worm gear configurations.
+`--inplace`, `-i`: Overwrite the input YAML file with calibration results. (Optional)
+`--update`, `-u`: Ignore and overwrite the current magenc_init values in the input YAML. (Optional)
+`--output`, `-o`: Specify a path to save the calibrated data if not overwriting in-place. (Optional)
+
+##### Example
+
+When the `update` option is specified, the current posture of the robot will be modified, 
+and upon pressing the Enter key, the angle at that moment will be set as the zero point. 
+Consequently, the `magenc_init` value will be updated and written to the board, 
+
+```
+armh7-tools calibrate ./worm_calib.yaml --update
+```
+
+#### Print Sensor Values
+
+This command displays real-time sensor values in a table format.
+
+```
+armh7-tools print-sensor
++------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------+
+|   ID |   Magenc |   Proximity1 |   Proximity2 |   Proximity3 |   Proximity4 |   Force1 |   Force2 |   Force3 |   Force4 |
+|------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------|
+|   19 |     7365 |            0 |            0 |            0 |            0 |     1240 |     1167 |     1083 |     1037 |
+|   20 |     3042 |            0 |            0 |            0 |            0 |     1209 |     1106 |     1075 |     1025 |
+|   21 |    13800 |            0 |            0 |            0 |            0 |     1230 |     1106 |     1064 |     1003 |
+|   22 |     9512 |            0 |            0 |            0 |            0 |     1222 |     1144 |     1123 |     1085 |
+|   23 |    14182 |            0 |            0 |            0 |            0 |     1238 |     1179 |     1083 |     1040 |
++------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------+
+```
+
+#### Print Worm Values
+
+Displays real-time worm gear values in a table format.
+
+```
+armh7-tools print-worm
++------------|-------------|---------------|------------------|-----------------+
+|   servo_id |   sensor_id |   magenc_init |   magenc_present |   present_angle |
+|------------|-------------|---------------|------------------|-----------------|
+|          0 |          38 |          6502 |             7368 |      -19.0283   |
+|          2 |          40 |          3039 |             3039 |       -0        |
+|          6 |          44 |          9502 |             9513 |       -0.241699 |
+|          8 |          46 |          9783 |            14170 |      -96.394    |
++------------|-------------|---------------|------------------|-----------------+
+```

rcb4-0.0.2/README.md

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+# rcb4
+
+## Contributing
+
+### Automatic Formatting
+This repository uses `ruff` for both linting and formatting which is configured in `pyproject.toml`, you can run with:
+```
+pip install ruff
+ruff format
+ruff check --fix .
+```
+
+## For JSK Users
+
+### Worm Gear Module Calibration Tool
+
+`armh7-tools` provides a comprehensive solution for calibrating and managing worm gear modules connected via the `ARMH7Interface`.
+It facilitates the calibration of worm gears, reading of calibrated sensor data, and real-time display of sensor and worm gear values.
+Designed for flexibility, it supports operations like calibration data update and in-place modification of YAML configuration files.
+
+#### YAML Configuration Format
+
+The calibration tool requires an input YAML file for worm gear modules configuration. 
+This file contains a list of worm gears with their associated parameters: `worm_id`, `servo_id`, `sensor_id`,
+and initial magnetic encoder value `magenc_init`.
+Each worm gear is represented by a line in the YAML file with its parameters encapsulated in curly braces and prefixed by a dash, indicating a list item in YAML syntax.
+
+```
+ - {worm_id: 0, servo_id: 0, sensor_id: 38, magenc_init: 6502}
+ - {worm_id: 1, servo_id: 2, sensor_id: 40, magenc_init: 3039}
+ - {worm_id: 3, servo_id: 6, sensor_id: 44, magenc_init: 9502}
+```
+
+#### Reading Worm Gear Modules's calibration data
+
+```
+armh7-tools read-calib [--device DEVICE] output_file_path
+```
+
+`--device`, `-d`: Specify the device port. (Default: None)
+`output_file_path`: Path to output the YAML file with calibration data.
+
+
+##### Example
+
+```
+armh7-tools read-calib ./worm_calib.yaml
+```
+
+#### Calibrate Worm Gear Modules
+
+```
+armh7-tools calibrate [--device DEVICE] file_path [--inplace] [--update] [--output OUTPUT]
+```
+
+`--device`, `-d`: Specify the device port. (Default: None)
+`file_path`: Path to the input YAML file containing worm gear configurations.
+`--inplace`, `-i`: Overwrite the input YAML file with calibration results. (Optional)
+`--update`, `-u`: Ignore and overwrite the current magenc_init values in the input YAML. (Optional)
+`--output`, `-o`: Specify a path to save the calibrated data if not overwriting in-place. (Optional)
+
+##### Example
+
+When the `update` option is specified, the current posture of the robot will be modified, 
+and upon pressing the Enter key, the angle at that moment will be set as the zero point. 
+Consequently, the `magenc_init` value will be updated and written to the board, 
+
+```
+armh7-tools calibrate ./worm_calib.yaml --update
+```
+
+#### Print Sensor Values
+
+This command displays real-time sensor values in a table format.
+
+```
+armh7-tools print-sensor
++------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------+
+|   ID |   Magenc |   Proximity1 |   Proximity2 |   Proximity3 |   Proximity4 |   Force1 |   Force2 |   Force3 |   Force4 |
+|------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------|
+|   19 |     7365 |            0 |            0 |            0 |            0 |     1240 |     1167 |     1083 |     1037 |
+|   20 |     3042 |            0 |            0 |            0 |            0 |     1209 |     1106 |     1075 |     1025 |
+|   21 |    13800 |            0 |            0 |            0 |            0 |     1230 |     1106 |     1064 |     1003 |
+|   22 |     9512 |            0 |            0 |            0 |            0 |     1222 |     1144 |     1123 |     1085 |
+|   23 |    14182 |            0 |            0 |            0 |            0 |     1238 |     1179 |     1083 |     1040 |
++------|----------|--------------|--------------|--------------|--------------|----------|----------|----------|----------+
+```
+
+#### Print Worm Values
+
+Displays real-time worm gear values in a table format.
+
+```
+armh7-tools print-worm
++------------|-------------|---------------|------------------|-----------------+
+|   servo_id |   sensor_id |   magenc_init |   magenc_present |   present_angle |
+|------------|-------------|---------------|------------------|-----------------|
+|          0 |          38 |          6502 |             7368 |      -19.0283   |
+|          2 |          40 |          3039 |             3039 |       -0        |
+|          6 |          44 |          9502 |             9513 |       -0.241699 |
+|          8 |          46 |          9783 |            14170 |      -96.394    |
++------------|-------------|---------------|------------------|-----------------+
+```

rcb4-0.0.2/pyproject.toml

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+[tool.ruff]
+target-version = "py38"
+line-length = 90
+
+# See https://github.com/charliermarsh/ruff#rules for error code definitions.
+
+[tool.ruff.lint]
+select = [
+    # "ANN", # annotations
+    "B", # bugbear
+    "C", # comprehensions
+    "E", # style errors
+    "F", # flakes
+    "I", # import sorting
+    "RUF", # ruff specific rules
+    "UP", # upgrade
+    "W", # style warnings
+    "YTT", # sys.version
+    "ISC002",
+    "NPY201",
+    "TID251"
+]
+
+ignore = [
+  "C901", # Comprehension is too complex (11 > 10)
+  "N802", # Function name should be lowercase
+  "N806", # Variable in function should be lowercase
+  "E501", # Line too long ({width} > {limit} characters)
+  "B904", # raise ... from err
+  "B905", # zip() without an explicit strict= parameter
+  "RUF005", # recommends non-type-aware expansion
+  "UP008",
+]
+
+# don't allow implicit string concatenation
+flake8-implicit-str-concat = {"allow-multiline" = false}
+
+[tool.ruff.lint.isort]
+force-single-line = true
+force-sort-within-sections = true
+order-by-type = false
+
+[tool.ruff.lint.flake8-tidy-imports.banned-api]
+    "IPython.embed".msg = "you forgot to remove a debug embed ;)"
+    "numpy.empty".msg = "uninitialized arrays are haunted try numpy.zeros"

rcb4-0.0.2/rcb4/__init__.py

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+# flake8: noqa
+
+import sys
+import pkg_resources
+
+
+if sys.version_info[0] < 3:
+    print("\033[91mThis package is not supported in Python 2.\033[0m")
+    sys.exit(1)
+
+__version__ = pkg_resources.get_distribution("rcb4").version

rcb4-0.0.2/rcb4/apps/armh7_tool.py

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+#!/usr/bin/env python
+
+import argparse
+
+import pandas as pd
+from tabulate import tabulate
+import yaml
+
+from rcb4.armh7interface import ARMH7Interface
+
+
+def calibrate_worms(interface, file_path, output_path, update=False, inplace=False):
+    with open(file_path) as file:
+        data = yaml.safe_load(file)
+
+    output_str = ""
+    for entry in data:
+        print(entry)
+        worm_id = entry["worm_id"]
+        servo_id = entry["servo_id"]
+        sensor_id = entry["sensor_id"]
+        magenc_present = entry.get("magenc_init", None)
+        if update is True:
+            magenc_present = None
+        calibrated_value = interface.calibrate_worm(
+            worm_id, servo_id, sensor_id, magenc_present
+        )
+        entry["magenc_init"] = calibrated_value
+        output_str += f" - {{worm_id: {worm_id}, servo_id: {servo_id}, sensor_id: {sensor_id}, magenc_init: {calibrated_value}}}\n"
+    interface.databssram_to_dataflash()
+    if inplace:
+        output_path = file_path
+    print(output_str, end="")
+    if output_path:
+        with open(output_path, "w") as file:
+            file.write(output_str)
+        print(f"Worm calibration file is saved to {output_path}")
+
+
+def read_calib_sensors(interface, output_path):
+    output_str = ""
+    for worm_id in interface.search_worm_ids():
+        worm = interface.read_worm_calib_data(worm_id)
+        output_str += f" - {{worm_id: {worm_id}, servo_id: {worm.servo_id}, sensor_id: {worm.sensor_id}, magenc_init: {worm.magenc_init}}}\n"
+    print(output_str, end="")
+    with open(output_path, "w") as file:
+        file.write(output_str)
+    print(f"Worm calibration file is saved to {output_path}")
+
+
+def print_sensor_values(interface):
+    try:
+        while True:
+            sensors = interface.all_jointbase_sensors()
+            data = {
+                "ID": [sensor.id for sensor in sensors],
+                "Magenc": [sensor.magenc for sensor in sensors],
+                "Proximity1": [sensor.ps[0] for sensor in sensors],
+                "Proximity2": [sensor.ps[1] for sensor in sensors],
+                "Proximity3": [sensor.ps[2] for sensor in sensors],
+                "Proximity4": [sensor.ps[3] for sensor in sensors],
+                "Force1": [sensor.adc[0] for sensor in sensors],
+                "Force2": [sensor.adc[1] for sensor in sensors],
+                "Force3": [sensor.adc[2] for sensor in sensors],
+                "Force4": [sensor.adc[3] for sensor in sensors],
+            }
+            df = pd.DataFrame(data)
+
+            print(tabulate(df, headers="keys", tablefmt="psql", showindex=False))
+            print("\033[H\033[J", end="")
+    except KeyboardInterrupt:
+        pass
+
+
+def print_worm_values(interface):
+    attributes = [
+        "servo_id",
+        "sensor_id",
+        "magenc_init",
+        "magenc_present",
+        "present_angle",
+    ]
+    try:
+        while True:
+            sensors = [
+                interface.read_worm_calib_data(worm_idx)
+                for worm_idx in interface.search_worm_ids()
+            ]
+            data = {attr: [] for attr in attributes}
+            for sensor in sensors:
+                for attr in attributes:
+                    data[attr].append(getattr(sensor, attr, "N/A"))
+            df = pd.DataFrame(data)
+            print(tabulate(df, headers="keys", tablefmt="psql", showindex=False))
+            print("\033[H\033[J", end="")
+    except KeyboardInterrupt:
+        pass
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    subparsers = parser.add_subparsers()
+
+    parser_calibrate = subparsers.add_parser(
+        "calibrate", help="Calibrate worm gear module."
+    )
+    parser_calibrate.add_argument(
+        "--device", "-d", default=None, help="Input device port."
+    )
+    parser_calibrate.add_argument("file_path", type=str, help="Path to yaml file.")
+    parser_calibrate.add_argument(
+        "--inplace", "-i", action="store_true", help="Overwrite file_path."
+    )
+    parser_calibrate.add_argument(
+        "--update",
+        "-u",
+        action="store_true",
+        help="Overwrite input yaml's current magenc_init.",
+    )
+    parser_calibrate.add_argument(
+        "--output", "-o", type=str, help="Output file path for calibrated data."
+    )
+
+    parser_calibrate.set_defaults(
+        func=lambda args: calibrate_worms(
+            ARMH7Interface.from_port(args.device),
+            args.file_path,
+            output_path=args.output,
+            update=args.update,
+            inplace=args.inplace,
+        )
+    )
+
+    parser_read_calib = subparsers.add_parser(
+        "read-calib", help="Read worm gear module calib data from armh7"
+    )
+    parser_read_calib.add_argument(
+        "--device", "-d", default=None, help="Input device port."
+    )
+    parser_read_calib.add_argument(
+        "output_file_path", type=str, help="Output path to yaml file."
+    )
+    parser_read_calib.set_defaults(
+        func=lambda args: read_calib_sensors(
+            ARMH7Interface.from_port(args.device), args.output_file_path
+        )
+    )
+
+    parser_print_sensor = subparsers.add_parser(
+        "print-sensor", help="Print sensor values."
+    )
+    parser_print_sensor.add_argument(
+        "--device", "-d", default=None, help="Input device port."
+    )
+    parser_print_sensor.set_defaults(
+        func=lambda args: print_sensor_values(ARMH7Interface.from_port(args.device))
+    )
+
+    parser_print_worm = subparsers.add_parser("print-worm", help="Print worm values.")
+    parser_print_worm.add_argument(
+        "--device", "-d", default=None, help="Input device port."
+    )
+    parser_print_worm.set_defaults(
+        func=lambda args: print_worm_values(ARMH7Interface.from_port(args.device))
+    )
+
+    args = parser.parse_args()
+    if hasattr(args, "func"):
+        args.func(args)
+    else:
+        parser.print_help()
+
+
+if __name__ == "__main__":
+    main()

rcb4-0.0.2/rcb4/apps/write_firmware.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+
+from pathlib import Path
+import shutil
+import subprocess
+import sys
+
+from rcb4.data import kondoh7_elf
+from rcb4.data import stlink
+
+
+def check_dependencies():
+    objcopy = shutil.which("arm-none-eabi-objcopy")
+    if objcopy is None:
+        print("Please install arm-none-eabi-objcopy.")
+        print("sudo apt install -y binutils-arm-none-eabi")
+        sys.exit(1)
+
+
+def convert_elf_to_bin(elf_path, bin_path):
+    cmd = ["arm-none-eabi-objcopy", "-O", "binary", elf_path, bin_path]
+    result = subprocess.run(cmd, capture_output=True, text=True)
+    if result.returncode != 0:
+        print(f"Error converting ELF to BIN: {result.stderr}")
+        sys.exit(2)
+
+
+def flash_bin_to_device(st_flash_path, bin_path):
+    cmd = [st_flash_path, "write", bin_path, "0x08000000"]
+    result = subprocess.run(cmd, capture_output=True, text=True)
+    if result.returncode != 0:
+        print(f"Error flashing BIN to device: {result.stderr}")
+        sys.exit(3)
+
+
+def main():
+    check_dependencies()
+
+    st_flash_path = stlink()
+    elf_path = kondoh7_elf()
+    bin_path = Path(elf_path).with_suffix(".bin")
+
+    convert_elf_to_bin(elf_path, bin_path)
+    flash_bin_to_device(st_flash_path, bin_path)
+
+
+if __name__ == "__main__":
+    main()