xarm-python-sdk 1.15.2__py3-none-any.whl

xarm/core/utils/crc16.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+
+#
+#  ./common_modules/crc16.py
+#  Copyright (C) 2018.4 -  UFactory.
+#  Author: Jimy Zhang   <jimy.zhang@ufactory.cc>
+#                       <jimy92@163.com>
+#
+
+
+CRC_TABLE_H = (
+0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
+0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
+0x40, 0x01, 0xC0,
+0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
+0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
+0xC0, 0x80, 0x41,
+0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
+0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
+0x41, 0x01, 0xC0,
+0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
+0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
+0xC1, 0x81, 0x40,
+0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
+0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
+0x40, 0x01, 0xC0,
+0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
+0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01,
+0xC0, 0x80, 0x41,
+0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
+0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
+0x40, 0x01, 0xC0,
+0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
+0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
+0xC0, 0x80, 0x41,
+0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
+0xC1, 0x81, 0x40)
+
+CRC_TABLE_L = (
+0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5,
+0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9,
+0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F,
+0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13,
+0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6,
+0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA,
+0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA,
+0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6,
+0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3,
+0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF,
+0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79,
+0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75,
+0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90,
+0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C,
+0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,
+0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C,
+0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81,
+0x80, 0x40)
+
+
+def crc_modbus(data):
+    leng = len(data)
+    init_crch = 0xFF
+    init_crcl = 0xFF
+    i = 0
+
+    while leng > 0:
+        index = init_crch ^ data[i]
+        i += 1
+        init_crch = init_crcl ^ CRC_TABLE_H[index]
+        init_crcl = CRC_TABLE_L[index]
+        leng -= 1
+    s = init_crch << 8 | init_crcl
+    crc = bytes([s // 256 % 256])
+    crc += bytes([s % 256])
+    return crc
+

xarm/core/utils/debug_print.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: UTF-8 -*-
+
+#
+#  ./common_modules/debug_print.py
+#  Copyright (C) 2018.4 -  UFactory.
+#  Author: Jimy Zhang   <jimy.zhang@ufactory.cc>
+#                       <jimy92@163.com>
+#
+
+
+def print_hex(str, data, len):
+    for i in range(len):
+        str += ('%0.2X ' % data[i])
+    print(str)
+
+
+def print_nvect(str, data, len):
+    for i in range(len):
+        str += ('%0.3f ' % data[i])
+    print(str)

xarm/core/utils/log.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2018, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+import logging
+import functools
+import sys
+import os
+
+log_path = os.path.join(os.path.expanduser('~'), '.UFACTORY', 'log', 'xarm', 'sdk')
+if not os.path.exists(log_path):
+    os.makedirs(log_path)
+
+logging.VERBOSE = 5
+logging.addLevelName(logging.VERBOSE, 'VERBOSE')
+
+
+class Logger(logging.Logger):
+    logger_fmt = '{}[%(levelname)s][%(asctime)s][%(filename)s:%(lineno)d] - - %(message)s'
+    logger_date_fmt = '%Y-%m-%d %H:%M:%S'
+    stream_handler_fmt = logger_fmt.format('[SDK]')
+    stream_handler_date_fmt = logger_date_fmt
+    stream_handler = logging.StreamHandler(sys.stdout)
+    stream_handler.setLevel(logging.VERBOSE)
+    stream_handler.setFormatter(logging.Formatter(stream_handler_fmt, stream_handler_date_fmt))
+
+    logger = logging.Logger(__name__)
+    logger.setLevel(logging.VERBOSE)
+    logger.addHandler(stream_handler)
+
+    def __new__(cls, *args, **kwargs):
+        if not hasattr(cls, 'logger'):
+            cls.logger = super(Logger, cls).__new__(cls, *args, **kwargs)
+        return cls.logger
+
+logger = Logger(__name__)
+logger.setLevel(logging.WARNING)
+
+logger.VERBOSE = logging.VERBOSE
+logger.DEBUG = logging.DEBUG
+logger.INFO = logging.INFO
+logger.WARN = logging.WARN
+logger.WARNING = logging.WARNING
+logger.ERROR = logging.ERROR
+logger.CRITICAL = logging.CRITICAL
+
+logger.verbose = functools.partial(logger.log, logger.VERBOSE)
+
+# findCaller = logger.findCaller
+#
+#
+# def log(msg, *args, **kwargs):
+#     level = kwargs.pop('level', logger.INFO)
+#     if logger.findCaller == findCaller:
+#         rv = findCaller(kwargs.pop('stack_info', False))
+#         logger.findCaller = lambda x: rv
+#     logger.log(level, msg, *args, **kwargs)
+#     if logger.findCaller != findCaller:
+#         logger.findCaller = findCaller
+#
+# logger.verbose = functools.partial(log, level=logger.VERBOSE)
+# logger.debug = functools.partial(log, level=logger.DEBUG)
+# logger.info = functools.partial(log, level=logger.INFO)
+# logger.warning = functools.partial(log, level=logger.WARNING)
+# logger.error = functools.partial(log, level=logger.ERROR)
+# logger.critical = functools.partial(log, level=logger.CRITICAL)
+
+colors = {
+    'none': '{}',
+    'white': '\033[30m{}\033[0m',
+    'red': '\033[31m{}\033[0m',
+    'green': '\033[32m{}\033[0m',
+    'orange': '\033[33m{}\033[0m',
+    'blue': '\033[34m{}\033[0m',
+    'purple': '\033[35m{}\033[0m',
+    'cyan': '\033[36m{}\033[0m',
+    'light_gray': '\033[37m{}\033[0m',
+    'dark_gray': '\033[90m{}\033[0m',
+    'light_red': '\033[91m{}\033[0m',
+    'light_green': '\033[92m{}\033[0m',
+    'yellow': '\033[93m{}\033[0m',
+    'light_blue': '\033[94m{}\033[0m',
+    'pink': '\033[95m{}\033[0m',
+    'light_cyan': '\033[96m{}\033[0m',
+}
+
+
+def pretty_print(*args, sep=' ', end='\n', file=None, color='none'):
+    msg = ''
+    for arg in args:
+        msg += arg + sep
+    msg = msg.rstrip(sep)
+    # msg = colors.get(color, '{}').format(msg)
+    print(msg, end=end, file=file)

xarm/core/version.py

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+__version__ = '0.1.0'

xarm/core/wrapper/__init__.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+# Software License Agreement (MIT License)
+#
+# Copyright (c) 2018, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc>
+
+
+from .uxbus_cmd_ser import UxbusCmdSer
+from .uxbus_cmd_tcp import UxbusCmdTcp