robocad-py 1.0.2.3__tar.gz → 1.0.2.5__tar.gz

{robocad-py-1.0.2.3/robocad_py.egg-info → robocad-py-1.0.2.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robocad-py
-Version: 1.0.2.3
+Version: 1.0.2.5
 Summary: python lib for real and virtual robots
 Home-page: https://github.com/Soft-V/robocad-py
 Author: Airat Abdrakov

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5}/robocad/internal/studica/connection_base.py

@@ -13,5 +13,5 @@ class ConnectionBase(ABC):
         pass
 
     @abstractmethod
-    def get_camera(self) -> cv2.typing.MatLike:
-        pass
+    def get_camera(self):
+        pass

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5}/robocad/internal/studica/connection_real.py

@@ -34,7 +34,7 @@ class ConnectionReal(ConnectionBase):
         VMXSPI.stop_th = True
         VMXSPI.th.join()
 
-    def get_camera(self) -> cv2.typing.MatLike:
+    def get_camera(self):
         try:
             ret, frame = self.__camera_instance.read()
             if ret:
@@ -52,4 +52,4 @@ class ConnectionReal(ConnectionBase):
             Common.temperature = cpu_temp.temperature
             Common.memory_load = psutil.virtual_memory().percent
             Common.cpu_load = psutil.cpu_percent(interval=0.5)
-            time.sleep(0.5)
+            time.sleep(0.5)

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5}/robocad/internal/studica/connection_sim.py

@@ -43,7 +43,7 @@ class ConnectionSim(ConnectionBase):
         self.__listen_channel.stop_listening()
         self.__camera_channel.stop_listening()
 
-    def get_camera(self) -> cv2.typing.MatLike:
+    def get_camera(self):
         camera_data = self.__camera_channel.out_bytes
         if len(camera_data) == 921600:
             nparr = np.frombuffer(camera_data, np.uint8)

robocad-py-1.0.2.5/robocad/vex.py

@@ -0,0 +1,76 @@
+import signal
+
+from .common import Common
+from .internal.logger import Logger
+
+from .internal.studica.connection_base import ConnectionBase
+from .internal.studica.shared import VMXStatic, TitanStatic
+
+
+class RobotVex:
+    def __init__(self):
+        self.__reseted_yaw_val = 0.0
+
+        self.__connection: ConnectionBase = None
+
+        Common.on_real_robot = True
+        Common.logger = Logger()
+
+        signal.signal(signal.SIGTERM, self.handler)
+        signal.signal(signal.SIGINT, self.handler)
+
+        from .internal.studica.connection_sim import ConnectionSim
+        self.__connection = ConnectionSim()
+        Common.power = 12  # todo: control from ConnectionSim from robocad
+
+        self.__connection.start()
+
+    def stop(self):
+        self.__connection.stop()
+        Common.logger.write_main_log("Program stopped")
+
+    def handler(self, signum, _):
+        Common.logger.write_main_log("Program stopped from handler")
+        Common.logger.write_main_log('Signal handler called with signal' + str(signum))
+        self.stop()
+        raise SystemExit("Exited")
+
+    def get_motor_speed_right(self):
+        return TitanStatic.speed_motor_0
+
+    def set_motor_speed_right(self, value):
+        TitanStatic.speed_motor_0 = value
+
+    def get_motor_speed_left(self):
+        return TitanStatic.speed_motor_1
+
+    def set_motor_speed_left(self, value):
+        TitanStatic.speed_motor_1 = value
+
+    def get_motor_enc_right(self):
+        return TitanStatic.enc_motor_0
+
+    def get_motor_enc_left(self):
+        return TitanStatic.enc_motor_1
+
+    def get_gyro_degrees(self):
+        return self.__normalize_angle(self.__get_pure_yaw() - self.__reseted_yaw_val)
+    
+    def reset_gyro_degrees(self, value: float = 0.0):
+        self.__reseted_yaw_val = self.__normalize_angle(self.__get_pure_yaw() - value)
+        
+    def __get_pure_yaw(self):
+        return VMXStatic.yaw
+    
+    def __normalize_angle(self, angle: float) -> float:
+        if angle < -180:
+            return angle + 360
+        elif angle > 180:
+            return angle - 360
+        return angle
+
+    def set_servo_claw(self, value):
+        VMXStatic.set_servo_angle(value, 1)
+
+    def set_servo_arm(self, value):
+        VMXStatic.set_servo_angle(value, port - 2)

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5/robocad_py.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robocad-py
-Version: 1.0.2.3
+Version: 1.0.2.5
 Summary: python lib for real and virtual robots
 Home-page: https://github.com/Soft-V/robocad-py
 Author: Airat Abdrakov

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5}/robocad_py.egg-info/SOURCES.txt

@@ -5,6 +5,7 @@ setup.py
 robocad/__init__.py
 robocad/common.py
 robocad/studica.py
+robocad/vex.py
 robocad/internal/__init__.py
 robocad/internal/logger.py
 robocad/internal/studica/COM.py

{robocad-py-1.0.2.3 → robocad-py-1.0.2.5}/setup.py

@@ -10,7 +10,7 @@ classifiers = [
 
 setup(
     name='robocad-py',
-    version='1.0.2.3',
+    version='1.0.2.5',
     description='python lib for real and virtual robots',
     long_description="Python library for real and virtual robots" + '\n\n' + open('CHANGELOG.md').read(),
     url='https://github.com/Soft-V/robocad-py',