robodyno-debugger 1.0.0__tar.gz

robodyno_debugger-1.0.0/LICENSE

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robodyno_debugger-1.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: robodyno-debugger
+Version: 1.0.0
+Summary: Robodyno 设备调试器（Web UI）
+Author-email: awei <awei@163.com>
+License: Apache-2.0
+Project-URL: Homepage, https://github.com/awei/robodyno-debugger
+Project-URL: Repository, https://github.com/awei/robodyno-debugger
+Keywords: robodyno,can,debugger,robotics
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+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
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: flask<4,>=2.3
+Requires-Dist: waitress>=2.1
+Requires-Dist: robodyno>=1.7.3
+Provides-Extra: dev
+Requires-Dist: build; extra == "dev"
+Requires-Dist: twine; extra == "dev"
+Dynamic: license-file
+
+# Robodyno Debugger
+
+Robodyno 设备的 Web 调试器 —— 一个基于 Flask 的轻量级设备管理平台，通过浏览器即可扫描、监控和控制 CAN 总线上的所有 Robodyno 设备。
+
+![Python](https://img.shields.io/badge/Python-3.8%2B-blue)
+![Robodyno](https://img.shields.io/badge/Robodyno-1.7.3%2B-blue)
+![Flask](https://img.shields.io/badge/Flask-2.3%2B-green)
+![Waitress](https://img.shields.io/badge/Waitress-2.1%2B-green)
+![License](https://img.shields.io/badge/License-Apache%202.0-yellow)
+
+---
+
+## 功能特性
+
+- 🔍 **自动设备扫描** —— SSE 流式推送，设备逐个实时显示
+- 🔌 **CAN 总线管理** —— 支持 can0 ~ can3 通道，可切换波特率（1M / 500K / 250K）
+- 🎛️ **多设备类型支持** —— 覆盖 Robodyno 全系列组件（电机 / 夹持器 / 传感器 / 控制器）
+- 📊 **实时数据监控** —— 电压、温度、位置、速度、力矩、距离、姿态、错误状态
+- 📈 **动态曲线绘制** —— Chart.js 实时图表（陀螺仪 / 加速度 / 欧拉角 / 距离 / 位置 / 速度 / 力矩）
+- ⚙️ **参数在线配置** —— PID、限速、限流、控制模式在线切换
+- 🖱️ **数值任意控制** —— 滑条实时拖动，数值徽章双击可精确输入
+- 🔧 **设备管理** —— 在线修改设备 ID，一键校准、清错、回零
+- 💾 **本地保存设置** —— 单位 / 步长等偏好保存在浏览器
+
+---
+
+## 支持的设备
+
+| 设备类型 | 型号 | 状态 |
+|---|---|---|
+| 行星减速电机 | `ROBODYNO_PRO_*` | ✅ |
+| 直线运动模组 | 复用行星电机驱动 | ✅ |
+| 灵足减速电机 | `THIRD_PARTY_CYBERGEAR` | ✅ |
+| 双指夹持器（新）| `MINI_REDUCER` | ✅ |
+| 双指夹持器（旧）| `MINI_P100` | ✅ |
+| 步进电机控制器 | `STEPPER_DRIVER` | ✅ |
+| 传送带驱动器 | 复用步进驱动 | ✅ |
+| IMU 传感器 | `IMU_SENSOR` | ✅ |
+| 超声波传感器 | `ULTRASONIC_SENSOR` | ✅ |
+| 磁导航传感器 | `MAGNETIC_SENSOR` | ✅ |
+| PWM 气动控制器 | `D_VAC01` | ✅ |
+| PWM 舵机控制器 | `D_VAC01` | ✅ |
+| LED 控制器 | `LED_DRIVER` | ✅ |
+
+---
+
+## 安装
+
+### 从 PyPI（推荐）
+
+```bash
+pip install robodyno-debugger
+```
+
+---
+
+## 系统要求
+
+- **Python** ≥ 3.8
+- **CAN 总线驱动**：
+  - Linux：`socketcan`（内核自带）
+  - Windows：`candle` 等
+- **robodyno 库**：能正常识别 CAN 设备（它依赖 `python-can` 库来与 CAN 硬件通信）
+
+### Linux 配置 CAN（示例）
+
+```bash
+# 设置 can0 波特率为 1M
+sudo ip link set can0 up type can bitrate 1000000
+
+# 验证
+ip -details link show can0
+```
+
+### Windows 配置 CAN
+
+安装对应 USB-CAN 适配器的驱动，确保在设备管理器中能识别。
+
+---
+
+## 快速开始
+
+### 1. 启动服务
+
+- 在 `终端(PowerShell\CMD)` 中输入
+
+```bash
+robodyno-debugger
+```
+
+输出：
+
+```
+Robodyno Debugger 启动中...
+  访问地址: http://localhost:5000
+  监听: 0.0.0.0:5000
+  线程数: 8
+  按 Ctrl+C 停止
+```
+
+### 2. 打开浏览器
+
+访问 `http://localhost:5000`（或局域网 IP `http://192.168.x.x:5000`）。
+
+### 3. 连接 CAN 总线
+
+点击右下角 ⚙️ 齿轮按钮：
+
+- 选择通道（`can0` / `can1` / `can2` / `can3`）
+- 选择波特率（`1000000` / `500000` / `250000`）
+- 点击「连接」
+
+连接成功后设备会自动扫描并逐个显示。
+
+### 4. 进入设备页面
+
+点击 **任意设备** 卡片进入对应控制页面。
+
+---
+
+## 命令行参数
+
+```bash
+robodyno-debugger [OPTIONS]
+
+Options:
+  --host TEXT     监听地址（默认 0.0.0.0）
+  --port INTEGER  监听端口（默认 5000）
+  --threads INT   工作线程数（默认 8）
+  --help          显示帮助
+```
+
+### 示例
+
+```bash
+# 指定端口
+robodyno-debugger --port 8080
+
+# 只监听本地
+robodyno-debugger --host 127.0.0.1
+
+# 增加线程数（并发更多请求）
+robodyno-debugger --threads 16
+```
+
+---
+
+## 界面说明
+
+### 首页 —— 设备列表
+
+- **顶部**：连接状态徽章（已连接 / 未连接）
+- **卡片**：按 ID 排序，逐个流式加载，带淡入动画
+- **右下角按钮**：
+  - ⓘ 系统信息（版本、IP、运行时长、CAN 状态）
+  - ⚙️ CAN 总线设置（连接 / 断开）
+
+### 二级页面 —— 设备控制
+
+- **左侧**：控制区（滑条、按钮、模式切换）
+- **右侧**：实时数据（电压、温度、位置、速度、力矩、PID 等）
+- **底部**：实时曲线（Chart.js）
+- **右下角**：设备信息 / 设置
+
+**双击蓝色数值徽章**可以精确输入目标值。
+
+---
+
+## 常见问题
+
+### Q1：无法连接 CAN
+
+**Linux**：
+```bash
+sudo ip link set can0 up type can bitrate 1000000
+```
+
+**Windows**：检查 USB-CAN 适配器驱动是否安装。
+- 驱动装好后，`robodyno` 库会自动通过 `python-can` 访问设备。
+
+### Q2：扫描超时
+
+- 检查 CAN 总线物理连接
+- 逐个上电设备排查故障节点
+
+### Q3：页面打开但无法识别设备
+
+- 点击右下角 ⚙️ 检查 CAN 状态是否"已连接"
+- 未连接时页面不会扫描
+
+### Q4：`robodyno-debugger` 命令找不到
+
+Windows 上 pip 的 Scripts 目录可能不在 PATH。备选运行方式：
+
+```bash
+python -m robodyno_debugger
+```
+
+或把提示的目录加到 PATH：
+
+```powershell
+# 比如提示的是 C:\Users\xxx\AppData\Local\Programs\Python\Python312\Scripts
+setx PATH "%PATH%;C:\Users\xxx\AppData\Local\Programs\Python\Python312\Scripts"
+```
+
+### Q5：端口被占用
+
+```bash
+robodyno-debugger --port 8080
+```
+
+或查找占用进程：
+
+```bash
+# Linux / Mac
+lsof -i :5000
+
+# Windows
+netstat -ano | findstr :5000
+```
+
+### Q6：如何让局域网其他机器访问
+
+默认 `--host 0.0.0.0`，直接访问本机 IP 即可：
+
+```
+http://192.168.1.100:5000
+```
+
+如果无法访问，检查防火墙：
+- **Linux**：`sudo ufw allow 5000`
+- **Windows**：控制面板 → Windows Defender 防火墙 → 允许应用通过防火墙 → 添加 Python
+
+---
+
+## 技术栈
+
+- **后端**：Flask、`python-can`（CAN 总线抽象库）、`robodyno`（设备控制库）
+- **前端**：Bootstrap 5、Font Awesome 6、Chart.js
+- **通信**：CAN 总线、Server-Sent Events（SSE）
+- **并发**：Flask `threaded=True` + `threading.Lock` 串行化 CAN 访问
+
+---
+
+## 相关资源
+
+- [Robodyno 官方文档](http://101.42.250.169/1.7.3/)
+- [robodyno Python 库](https://github.com/robodyno/robodyno)
+
+---
+
+## License
+
+Apache License 2.0
+
+---
+
+## 更新日志
+
+### v1.0.0
+
+**设备支持**
+
+- 行星减速电机（`ROBODYNO_PRO_*`）
+- 直线运动模组（复用行星电机驱动）
+- 灵足减速电机（`THIRD_PARTY_CYBERGEAR`）
+- 双指夹持器（`MINI_REDUCER`）
+- 旧版双指夹持器（`MINI_P100`，固件 <1.0，独立控制页面）
+- 步进电机控制器（`STEPPER_DRIVER`）
+- 传送带驱动器（复用步进驱动，支持 rad ↔ m 单位换算）
+- IMU 传感器（`IMU_SENSOR`，四元数 / 欧拉角 / 陀螺仪 / 加速度）
+- 超声波传感器（`ULTRASONIC_SENSOR`，支持 cm / m 切换）
+- 磁导航传感器（`MAGNETIC_SENSOR`，16 位检测点阵显示）
+- PWM 控制器（`D_VAC01`，气动执行器 / 舵机控制）
+- LED 控制器（`LED_DRIVER`，常亮 / 闪烁 / 呼吸 / 跑马）
+
+**CAN 总线管理**
+
+- 支持 can0 ~ can3 通道
+- 波特率在线切换（1M / 500K / 250K）
+
+**设备扫描**
+
+- SSE 流式推送，设备逐个实时显示
+- 支持自动刷新（10 秒倒计时）与手动刷新
+
+**实时监控与曲线**
+
+- 位置、速度、力矩、电压、温度、错误状态
+- 姿态（四元数 / 欧拉角 / 陀螺仪 / 加速度）、距离
+- Chart.js 实时曲线，可切换显示数据集
+
+**控制与配置**
+
+- 滑条实时拖动，数值徽章双击精确输入
+- 控制模式在线切换（位置 / 速度 / 力矩 / MIT 等）
+- PID、速度上限、电流上限在线读写
+- 零点设置、电机校准、错误清除、回零
+- 设备 ID 在线修改并保存到闪存
+
+**本地偏好**
+
+- 单位 / 步长 / 最大行程等设置保存在浏览器
+- 每个设备页面独立配置，互不干扰