wujihandpy 0.5.2__cp39-cp39-win_amd64.whl → 1.0.0__cp39-cp39-win_amd64.whl
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- wujihandpy/__init__.py +7 -7
- wujihandpy/{_core.pyi → _core/__init__.pyi} +118 -128
- wujihandpy/_core/filter.pyi +8 -0
- wujihandpy/_core.cp39-win_amd64.pyd +0 -0
- wujihandpy/_version.py +3 -3
- wujihandpy-1.0.0.dist-info/DELVEWHEEL +2 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0.dist-info}/METADATA +29 -29
- wujihandpy-1.0.0.dist-info/RECORD +14 -0
- wujihandpy.libs/{.load-order-wujihandpy-0.5.2 → .load-order-wujihandpy-1.0.0} +2 -2
- wujihandpy.libs/{libusb-1.0-f227a173b895cb3e1548ee0bb7bb839c.dll → libusb-1.0-fcae749f9e5fd72ad41bbcc029d2e10a.dll} +0 -0
- wujihandpy-0.5.2.dist-info/DELVEWHEEL +0 -2
- wujihandpy-0.5.2.dist-info/RECORD +0 -13
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0.dist-info}/WHEEL +0 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0.dist-info}/licenses/LICENSE +0 -0
wujihandpy/__init__.py
CHANGED
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@@ -2,7 +2,7 @@ from __future__ import annotations
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# start delvewheel patch
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def
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def _delvewheel_patch_1_11_2():
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import ctypes
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import os
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import platform
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@@ -13,10 +13,10 @@ def _delvewheel_patch_1_11_1():
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if os.path.isdir(libs_dir):
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os.add_dll_directory(libs_dir)
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else:
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load_order_filepath = os.path.join(libs_dir, '.load-order-wujihandpy-0.
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load_order_filepath = os.path.join(libs_dir, '.load-order-wujihandpy-1.0.0')
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if os.path.isfile(load_order_filepath):
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import ctypes.wintypes
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with open(os.path.join(libs_dir, '.load-order-wujihandpy-0.
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with open(os.path.join(libs_dir, '.load-order-wujihandpy-1.0.0')) as file:
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load_order = file.read().split()
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kernel32 = ctypes.WinDLL('kernel32', use_last_error=True)
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kernel32.LoadLibraryExW.restype = ctypes.wintypes.HMODULE
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@@ -27,11 +27,11 @@ def _delvewheel_patch_1_11_1():
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raise OSError('Error loading {}; {}'.format(lib, ctypes.FormatError(ctypes.get_last_error())))
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del
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_delvewheel_patch_1_11_2()
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del _delvewheel_patch_1_11_2
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# end delvewheel patch
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-
from ._core import
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from ._core import *
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from ._version import __version__
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__all__ = ["
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__all__ = ["__version__", 'Hand', 'Finger', 'Joint', 'IController', 'filter']
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@@ -2,8 +2,11 @@ from __future__ import annotations
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import numpy
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import numpy.typing
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import typing
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from . import filter
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__all__: list[str] = ['Finger', 'Hand', 'IController', 'Joint', 'filter']
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class Finger:
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def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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...
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def get_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_position(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def joint(self, index: typing.SupportsInt) -> Joint:
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def read_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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async def read_joint_actual_position_async(self) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_actual_position_unchecked(self) -> None:
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def read_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_bus_voltage_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_lower_limit_unchecked(self) -> None:
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def read_joint_position(self) -> numpy.typing.NDArray[numpy.float64]:
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async def read_joint_position_async(self) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_position_unchecked(self) -> None:
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def read_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_temperature_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_upper_limit_unchecked(self) -> None:
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@typing.overload
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def write_joint_control_mode(self, value:
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def write_joint_control_mode(self, value: typing.SupportsInt) -> None:
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@typing.overload
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def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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@typing.overload
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async def write_joint_control_mode_async(self, value:
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async def write_joint_control_mode_async(self, value: typing.SupportsInt) -> None:
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@typing.overload
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async def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_control_mode_unchecked(self, value:
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def write_joint_control_mode_unchecked(self, value: typing.SupportsInt) -> None:
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@typing.overload
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def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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@typing.overload
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def
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def write_joint_current_limit(self, value: typing.SupportsInt) -> None:
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def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def
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async def write_joint_current_limit_async(self, value: typing.SupportsInt) -> None:
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async def
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async def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_current_limit_unchecked(self, value: typing.SupportsInt) -> None:
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def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_enabled(self, value: bool) -> None:
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def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_]) -> None:
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async def
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async def write_joint_enabled_async(self, value: bool) -> None:
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async def
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async def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_]) -> None:
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def write_joint_enabled_unchecked(self, value: bool) -> None:
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def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_]) -> None:
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def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
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def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
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async def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
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def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_sin_level(self, value: typing.SupportsInt) -> None:
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def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def write_joint_sin_level_async(self, value: typing.SupportsInt) -> None:
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async def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_sin_level_unchecked(self, value: typing.SupportsInt) -> None:
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def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_target_position(self, value: typing.SupportsFloat) -> None:
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def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
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async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
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async def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
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def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
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class Hand:
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def __init__(self, serial_number: str | None = None, usb_pid: typing.SupportsInt = -1, usb_vid: typing.SupportsInt = 1155, mask: typing.Annotated[numpy.typing.ArrayLike, numpy.
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def __init__(self, serial_number: str | None = None, usb_pid: typing.SupportsInt = -1, usb_vid: typing.SupportsInt = 1155, mask: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_] | None = None) -> None:
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def finger(self, index: typing.SupportsInt) -> Finger:
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def get_input_voltage(self) -> numpy.float32:
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def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_temperature(self) -> numpy.float32:
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def read_firmware_date(self) -> numpy.uint32:
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async def read_firmware_date_async(self) -> numpy.uint32:
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def read_input_voltage_unchecked(self) -> None:
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def read_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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async def
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async def write_joint_enabled_async(self, value: bool) -> None:
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async def
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def
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def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_]) -> None:
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def
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def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
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+
def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def
|
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|
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async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
|
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|
...
|
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|
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|
|
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async def
|
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|
+
async def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
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|
...
|
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|
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|
|
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|
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def
|
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|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
|
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|
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|
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|
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|
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def
|
|
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|
+
def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
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|
...
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|
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|
@typing.overload
|
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|
-
def
|
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|
+
def write_joint_sin_level(self, value: typing.SupportsInt) -> None:
|
|
384
375
|
...
|
|
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376
|
@typing.overload
|
|
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|
-
def
|
|
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|
+
def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
387
378
|
...
|
|
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|
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|
|
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|
-
async def
|
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|
+
async def write_joint_sin_level_async(self, value: typing.SupportsInt) -> None:
|
|
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|
...
|
|
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|
@typing.overload
|
|
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|
-
async def
|
|
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|
+
async def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
393
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|
...
|
|
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385
|
@typing.overload
|
|
395
|
-
def
|
|
386
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt) -> None:
|
|
396
387
|
...
|
|
397
388
|
@typing.overload
|
|
398
|
-
def
|
|
389
|
+
def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
399
390
|
...
|
|
400
391
|
@typing.overload
|
|
401
|
-
def
|
|
392
|
+
def write_joint_target_position(self, value: typing.SupportsFloat) -> None:
|
|
402
393
|
...
|
|
403
394
|
@typing.overload
|
|
404
|
-
def
|
|
395
|
+
def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
405
396
|
...
|
|
406
397
|
@typing.overload
|
|
407
|
-
async def
|
|
398
|
+
async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
|
|
408
399
|
...
|
|
409
400
|
@typing.overload
|
|
410
|
-
async def
|
|
401
|
+
async def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
411
402
|
...
|
|
412
403
|
@typing.overload
|
|
413
|
-
def
|
|
404
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat) -> None:
|
|
414
405
|
...
|
|
415
406
|
@typing.overload
|
|
416
|
-
def
|
|
417
|
-
...
|
|
418
|
-
def write_pdo_enabled(self, value: numpy.uint8) -> None:
|
|
407
|
+
def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
419
408
|
...
|
|
420
|
-
|
|
409
|
+
class IController:
|
|
410
|
+
def __enter__(self) -> IController:
|
|
421
411
|
...
|
|
422
|
-
def
|
|
412
|
+
def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
|
|
423
413
|
...
|
|
424
|
-
def
|
|
414
|
+
def close(self) -> None:
|
|
425
415
|
...
|
|
426
|
-
|
|
416
|
+
def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
|
|
427
417
|
...
|
|
428
|
-
def
|
|
418
|
+
def set_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
429
419
|
...
|
|
430
420
|
class Joint:
|
|
421
|
+
def get_joint_actual_position(self) -> numpy.float64:
|
|
422
|
+
...
|
|
431
423
|
def get_joint_bus_voltage(self) -> numpy.float32:
|
|
432
424
|
...
|
|
433
425
|
def get_joint_error_code(self) -> numpy.uint32:
|
|
@@ -438,12 +430,16 @@ class Joint:
|
|
|
438
430
|
...
|
|
439
431
|
def get_joint_lower_limit(self) -> numpy.float64:
|
|
440
432
|
...
|
|
441
|
-
def get_joint_position(self) -> numpy.float64:
|
|
442
|
-
...
|
|
443
433
|
def get_joint_temperature(self) -> numpy.float32:
|
|
444
434
|
...
|
|
445
435
|
def get_joint_upper_limit(self) -> numpy.float64:
|
|
446
436
|
...
|
|
437
|
+
def read_joint_actual_position(self) -> numpy.float64:
|
|
438
|
+
...
|
|
439
|
+
async def read_joint_actual_position_async(self) -> numpy.float64:
|
|
440
|
+
...
|
|
441
|
+
def read_joint_actual_position_unchecked(self) -> None:
|
|
442
|
+
...
|
|
447
443
|
def read_joint_bus_voltage(self) -> numpy.float32:
|
|
448
444
|
...
|
|
449
445
|
async def read_joint_bus_voltage_async(self) -> numpy.float32:
|
|
@@ -474,12 +470,6 @@ class Joint:
|
|
|
474
470
|
...
|
|
475
471
|
def read_joint_lower_limit_unchecked(self) -> None:
|
|
476
472
|
...
|
|
477
|
-
def read_joint_position(self) -> numpy.float64:
|
|
478
|
-
...
|
|
479
|
-
async def read_joint_position_async(self) -> numpy.float64:
|
|
480
|
-
...
|
|
481
|
-
def read_joint_position_unchecked(self) -> None:
|
|
482
|
-
...
|
|
483
473
|
def read_joint_temperature(self) -> numpy.float32:
|
|
484
474
|
...
|
|
485
475
|
async def read_joint_temperature_async(self) -> numpy.float32:
|
|
@@ -492,39 +482,39 @@ class Joint:
|
|
|
492
482
|
...
|
|
493
483
|
def read_joint_upper_limit_unchecked(self) -> None:
|
|
494
484
|
...
|
|
495
|
-
def write_joint_control_mode(self, value:
|
|
485
|
+
def write_joint_control_mode(self, value: typing.SupportsInt) -> None:
|
|
496
486
|
...
|
|
497
|
-
async def write_joint_control_mode_async(self, value:
|
|
487
|
+
async def write_joint_control_mode_async(self, value: typing.SupportsInt) -> None:
|
|
498
488
|
...
|
|
499
|
-
def write_joint_control_mode_unchecked(self, value:
|
|
489
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt) -> None:
|
|
500
490
|
...
|
|
501
|
-
def
|
|
491
|
+
def write_joint_current_limit(self, value: typing.SupportsInt) -> None:
|
|
502
492
|
...
|
|
503
|
-
async def
|
|
493
|
+
async def write_joint_current_limit_async(self, value: typing.SupportsInt) -> None:
|
|
504
494
|
...
|
|
505
|
-
def
|
|
495
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt) -> None:
|
|
506
496
|
...
|
|
507
|
-
def
|
|
497
|
+
def write_joint_enabled(self, value: bool) -> None:
|
|
508
498
|
...
|
|
509
|
-
async def
|
|
499
|
+
async def write_joint_enabled_async(self, value: bool) -> None:
|
|
510
500
|
...
|
|
511
|
-
def
|
|
501
|
+
def write_joint_enabled_unchecked(self, value: bool) -> None:
|
|
512
502
|
...
|
|
513
|
-
def
|
|
503
|
+
def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
|
|
514
504
|
...
|
|
515
|
-
async def
|
|
505
|
+
async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
|
|
516
506
|
...
|
|
517
|
-
def
|
|
507
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
|
|
518
508
|
...
|
|
519
|
-
def
|
|
509
|
+
def write_joint_sin_level(self, value: typing.SupportsInt) -> None:
|
|
520
510
|
...
|
|
521
|
-
async def
|
|
511
|
+
async def write_joint_sin_level_async(self, value: typing.SupportsInt) -> None:
|
|
522
512
|
...
|
|
523
|
-
def
|
|
513
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt) -> None:
|
|
524
514
|
...
|
|
525
|
-
def
|
|
515
|
+
def write_joint_target_position(self, value: typing.SupportsFloat) -> None:
|
|
526
516
|
...
|
|
527
|
-
async def
|
|
517
|
+
async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
|
|
528
518
|
...
|
|
529
|
-
def
|
|
519
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat) -> None:
|
|
530
520
|
...
|
|
Binary file
|
wujihandpy/_version.py
CHANGED
|
@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
|
|
|
28
28
|
commit_id: COMMIT_ID
|
|
29
29
|
__commit_id__: COMMIT_ID
|
|
30
30
|
|
|
31
|
-
__version__ = version = '0.
|
|
32
|
-
__version_tuple__ = version_tuple = (
|
|
31
|
+
__version__ = version = '1.0.0'
|
|
32
|
+
__version_tuple__ = version_tuple = (1, 0, 0)
|
|
33
33
|
|
|
34
|
-
__commit_id__ = commit_id = '
|
|
34
|
+
__commit_id__ = commit_id = 'g05d7911c2'
|
|
@@ -0,0 +1,2 @@
|
|
|
1
|
+
Version: 1.11.2
|
|
2
|
+
Arguments: ['C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-0xcdz1cp\\cp39-win_amd64\\build\\venv\\Scripts\\delvewheel', 'repair', '--add-path', 'C:/vcpkg/installed/x64-windows/bin', '-w', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-0xcdz1cp\\cp39-win_amd64\\repaired_wheel', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-0xcdz1cp\\cp39-win_amd64\\built_wheel\\wujihandpy-1.0.0-cp39-cp39-win_amd64.whl']
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Metadata-Version: 2.2
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Name: wujihandpy
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Version: 0.
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Version: 1.0.0
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Summary: Python bindings for WujiHandCpp
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Author-Email: Zihan Qin <zihanqin2048@gmail.com>
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Maintainer-Email: Wuji Technology <support@pan-motor.com>
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@@ -117,8 +117,8 @@ hand = wujihandpy.Hand()
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### 读数据
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```python
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def read_<dataname>(self) ->
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def read_<dataname>(self) -> np.
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def read_<dataname>(self) -> datatype
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def read_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
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```
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所有可使用的数据均定义在 `wujihandpy/_core.pyi` 中。
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@@ -134,7 +134,7 @@ time = hand.read_system_time()
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例如，读取第1个手指（食指），第0个关节的当前位置数据：
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```python
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position = hand.finger(1).joint(0).
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position = hand.finger(1).joint(0).read_joint_actual_position()
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```
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关节角度为 `np.float64` 类型，单位为弧度，零点和正方向与 [URDF文件](https://github.com/Wuji-Technology-Co-Ltd/wujihand-urdf) 中定义的相同。
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@@ -144,7 +144,7 @@ position = hand.finger(1).joint(0).read_joint_position()
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例如，以下指令读取整手所有（20个）关节的当前位置数据：
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```python
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positions = hand.
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positions = hand.read_joint_actual_position()
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```
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进行批量读时，函数返回包含所有数据的 `np.ndarray[np.float64]`：
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@@ -165,21 +165,21 @@ positions = hand.read_joint_position()
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写数据拥有类似的 API，但多了一个参数用于传递目标值：
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```python
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def write_<dataname>(self,
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def write_<dataname>(self, np.
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def write_<dataname>(self, datatype)
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def write_<dataname>(self, np.ndarray[datatype]) # For bulk-write
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```
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例如，写入单个关节的目标位置数据：
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```python
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hand.finger(1).joint(0).
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hand.finger(1).joint(0).write_joint_target_position(0.8)
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```
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各关节的合法角度范围可通过以下 API 获取：
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```python
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upper =
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lower =
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upper = < Hand / Finger / Joint >.read_joint_upper_limit()
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lower = < Hand / Finger / Joint >.read_joint_lower_limit()
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```
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若写入的角度超出合法范围，会被自动限幅至最高/最低值。
|
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@@ -187,13 +187,13 @@ lower = (Hand | Finger | Joint).read_joint_lower_limit()
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**批量写**数据也是可行的，例如，批量为第一个手指写入目标位置数据：
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```python
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hand.finger(1).
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+
hand.finger(1).write_joint_target_position(0.8)
|
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|
```
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如果每个关节的目标值不同，可以传入一个包含所有目标值的 `np.array`：
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```python
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hand.finger(1).
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hand.finger(1).write_joint_target_position(
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np.array(
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# J1 J2 J3 J4
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[0.8, 0.0, 0.8, 0.8],
|
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@@ -209,10 +209,10 @@ hand.finger(1).write_joint_control_position(
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读写函数均有对应的异步版本，函数名以 `_async` 作为后缀。
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``` python
|
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async def read_<dataname>_async(self) ->
|
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async def read_<dataname>_async(self) -> np.
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async def write_<dataname>_async(self,
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async def write_<dataname>_async(self, np.
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async def read_<dataname>_async(self) -> datatype
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async def read_<dataname>_async(self) -> np.ndarray[datatype] # For bulk-read
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async def write_<dataname>_async(self, datatype)
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async def write_<dataname>_async(self, np.ndarray[datatype]) # For bulk-write
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```
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异步接口需 `await`；等待期间不阻塞线程/事件循环，返回时保证读/写已经成功。
|
|
@@ -224,8 +224,8 @@ async def write_<dataname>_async(self, np.array<datatype>) # For bulk-write
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```python
|
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def read_<dataname>_unchecked(self) -> None
|
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def read_<dataname>_unchecked(self) -> None # For bulk-read
|
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def write_<dataname>_unchecked(self,
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def write_<dataname>_unchecked(self, np.
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def write_<dataname>_unchecked(self, datatype)
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def write_<dataname>_unchecked(self, np.ndarray[datatype]) # For bulk-write
|
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```
|
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Unchecked 函数总是立即返回，不会阻塞，通常用于对实时性要求较高的场景。
|
|
@@ -235,27 +235,25 @@ Unchecked 函数总是立即返回，不会阻塞，通常用于对实时性要
|
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如果希望获取以往读/写的结果，可以使用 `get` 系列函数：
|
|
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|
|
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|
```python
|
|
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def get_<dataname>(self) ->
|
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def get_<dataname>(self) -> np.
|
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+
def get_<dataname>(self) -> datatype
|
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|
+
def get_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
|
|
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|
```
|
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|
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|
`get` 系列函数同样不会阻塞，它总是立即返回最近一次读取到的数据，无论该数据来自 `read`、`async-read` 还是 `read-unchecked`。
|
|
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|
|
|
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|
如果尚未请求过该数据，或请求尚未成功，`get` 函数的返回值是未定义的（通常为0）。
|
|
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|
|
|
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|
-
###
|
|
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|
+
### 实时控制
|
|
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|
|
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|
-
|
|
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|
+
默认的读/写方式均带有缓冲池，积攒一段时间数据后才进行传输，最高读/写频率无法超过 100Hz。
|
|
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|
|
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|
-
|
|
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|
+
对于需要流畅控制关节位置的场景，需使用 realtime_controller。
|
|
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|
|
|
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|
-
|
|
253
|
-
hand.pdo_write_unchecked(np.float64(0.8))
|
|
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|
-
# 或按 5x4 结构批量发送：
|
|
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|
-
# hand.pdo_write_unchecked(np.array([...], dtype=np.float64))
|
|
256
|
-
```
|
|
252
|
+
具体的控制示例可见 [example](example) 目录：
|
|
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|
|
|
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|
-
|
|
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|
+
单向写：[realtime.py](example/4.realtime.py)
|
|
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|
+
|
|
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|
+
双向读/写：[realtime_duplex.py](example/5.realtime_duplex.py)
|
|
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|
|
|
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|
## 性能与优化
|
|
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|
|
|
@@ -263,6 +261,8 @@ WujihandPy 在充分保证易用性的同时，尽可能优化了性能与效率
|
|
|
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|
|
|
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|
我们强烈建议优先使用批量读/写以最大限度地发挥性能。
|
|
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|
|
|
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|
+
对于需要流畅控制关节位置的场景，请务必使用 realtime_controller。
|
|
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|
+
|
|
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|
## 许可证
|
|
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|
|
|
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|
本项目采用 MIT 许可证，详情见 [LICENSE](LICENSE) 文件。
|
|
@@ -0,0 +1,14 @@
|
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1
|
+
wujihandpy/_core.cp39-win_amd64.pyd,sha256=Mb7GbFCAd-L5bqxDkmXQ6DKdzq-MdyCZzmjL3wG5xFw,498688
|
|
2
|
+
wujihandpy/_version.py,sha256=XU2B0PQMT4sDJu2ptWqHSvUNE14luu_OmGG_oZIMuAs,746
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|
3
|
+
wujihandpy/__init__.py,sha256=GSWX12QR6hZrMFb0OBzx6Lw_vpW7NnCGLkstMHrjc_A,1749
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|
4
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+
wujihandpy/_core/filter.pyi,sha256=bhf3_lTgyf0BeVhp4TqUw0nJgoE0f-kyzw7vJrt67nI,235
|
|
5
|
+
wujihandpy/_core/__init__.pyi,sha256=F94Z31a3PLpQsXHFmqpaQQSfefSfvvNh3eP5gDxftqo,22394
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6
|
+
wujihandpy-1.0.0.dist-info/DELVEWHEEL,sha256=szY5aofKHRohviKAtuZ4TdHY-3IyFizUK7NpXG2IrE0,450
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|
7
|
+
wujihandpy-1.0.0.dist-info/METADATA,sha256=32D_JDjINxLq14gSc9Q9qqAUpkOeJcAgYGmJDuIom0I,8029
|
|
8
|
+
wujihandpy-1.0.0.dist-info/RECORD,,
|
|
9
|
+
wujihandpy-1.0.0.dist-info/WHEEL,sha256=9tsL4JT94eZPTkcS3bNng2riasYJMxXndrO9CxUfJHs,104
|
|
10
|
+
wujihandpy-1.0.0.dist-info/licenses/LICENSE,sha256=aWRV7TIHNfIAV58Abtu5ubNfqOHUeANdqg_QXb99nto,1093
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11
|
+
wujihandpy.libs/.load-order-wujihandpy-1.0.0,sha256=A8OTr2SYebJucMBWi6rfvm6hoprY6SsETDYSylOGjoo,152
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|
12
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+
wujihandpy.libs/libusb-1.0-fcae749f9e5fd72ad41bbcc029d2e10a.dll,sha256=_K50n55f1yrUG7zAKdLhCqCeWP2bp2qvH831bsQU13c,158208
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13
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+
wujihandpy.libs/msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll,sha256=pMIim9wqKmMKzcCVtNhgCOXD47x3cxdDVPPaT1vrnN4,575056
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14
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wujihandpy.libs/msvcp140_atomic_wait-eb238a7437cff8f49c01cc67fd035163.dll,sha256=aR3icdyYE_-F-pRwzFoq8K2INB8tg4IhD8HFdLrgehc,29696
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Binary file
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-
Version: 1.11.1
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2
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-
Arguments: ['C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-mggnxvto\\cp39-win_amd64\\build\\venv\\Scripts\\delvewheel', 'repair', '--add-path', 'C:/vcpkg/installed/x64-windows/bin', '-w', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-mggnxvto\\cp39-win_amd64\\repaired_wheel', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-mggnxvto\\cp39-win_amd64\\built_wheel\\wujihandpy-0.5.2-cp39-cp39-win_amd64.whl']
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1
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wujihandpy/_core.cp39-win_amd64.pyd,sha256=JpYtpmxMl2lwQDrQprh-xPyUYpsai44Sl-sTdyXy5IU,470016
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wujihandpy/_core.pyi,sha256=AYPn5is8_03XWTOCmk8us0-r7vkY8_fAWcbuuFYK0A0,22597
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wujihandpy/_version.py,sha256=QJ6Wh_ZvwZjLkcwjPJmDkeMxkPTIZUbXCYfZQyGTcfo,746
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wujihandpy/__init__.py,sha256=PfpNPJUVsrXVVrothgvd6O4Y9xf9PCDubRZ9dZfi16w,1762
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wujihandpy-0.5.2.dist-info/DELVEWHEEL,sha256=F5vgpfE404oYQjiEsvJzwc_IV_Y-P4wkTgAAoKEAlNI,450
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6
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wujihandpy-0.5.2.dist-info/METADATA,sha256=Dr7rJvg4kjdvLm29x7BTT_onQsin4QFWwX8FpBwqWEM,8037
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wujihandpy-0.5.2.dist-info/RECORD,,
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wujihandpy-0.5.2.dist-info/WHEEL,sha256=9tsL4JT94eZPTkcS3bNng2riasYJMxXndrO9CxUfJHs,104
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9
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-
wujihandpy-0.5.2.dist-info/licenses/LICENSE,sha256=aWRV7TIHNfIAV58Abtu5ubNfqOHUeANdqg_QXb99nto,1093
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10
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-
wujihandpy.libs/.load-order-wujihandpy-0.5.2,sha256=OoItWJLf4tsiYZ1Ltgvft1r7rTQQYsGRTCQLLA1dj2k,152
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11
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-
wujihandpy.libs/libusb-1.0-f227a173b895cb3e1548ee0bb7bb839c.dll,sha256=8iehc7iVyz4VSO4Lt7uDnGV2T_aHfg4cO-VWnMYSxm4,158208
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wujihandpy.libs/msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll,sha256=pMIim9wqKmMKzcCVtNhgCOXD47x3cxdDVPPaT1vrnN4,575056
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wujihandpy.libs/msvcp140_atomic_wait-eb238a7437cff8f49c01cc67fd035163.dll,sha256=aR3icdyYE_-F-pRwzFoq8K2INB8tg4IhD8HFdLrgehc,29696
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File without changes
|
|
File without changes
|