yrcom 0.2.0__tar.gz

yrcom-0.2.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 cmosbk
+
+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.

yrcom-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: yrcom
+Version: 0.2.0
+Summary: Yaskawa robot communication — Ethernet Server, HSES and HSES File Control (pure stdlib)
+Author: cmosbk
+License: MIT
+Project-URL: Homepage, https://github.com/CMOSBK/yrcom
+Project-URL: Issues, https://github.com/CMOSBK/yrcom/issues
+Keywords: yaskawa,robot,hses,ethernet-server,motoman,yrc1000
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Provides-Extra: dev
+Requires-Dist: pytest>=8; extra == "dev"
+Dynamic: license-file
+
+# yrcom
+
+[![CI](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml/badge.svg)](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml)
+
+Yaskawa robot communication as a standalone Python library — a single,
+hardware-verified communication core meant to be shared across projects
+instead of being duplicated.
+
+The name: **YRC** (Yaskawa Robot Controller, e.g. YRC1000) + **COM**munication.
+
+**Pure stdlib** — no runtime dependencies. Import name: `yrcom`.
+
+## Transports
+
+| Class | Transport | Purpose |
+|---|---|---|
+| `YaskawaClient` | Ethernet Server, TCP 80 | classic host-control commands |
+| `HsesClient` | HSES, UDP 10040 | high speed: 45 commands (status, alarms, variables, IO, telemetry, motion) |
+| `HsesFileClient` | HSES File Control, UDP 10041 | read/write job files, file list, CMOS backup |
+| `RobotConnection` | ES + HSES behind one IP | pick the transport via `transport="hses"\|"ethernet"` |
+| `HsesReplayServer` | — (testing) | replays a recorded robot session as a UDP server → offline development/testing |
+
+Command coverage: HSES Robot Control **45/45**, File Control **5/5**
+(verified against real hardware: YRC1000, SW YAS5.40).
+
+## Installation
+
+```bash
+pip install yrcom           # from PyPI
+```
+
+For development:
+
+```bash
+pip install -e ".[dev]"     # editable install incl. pytest
+```
+
+## Quick start
+
+```python
+from yrcom import HsesClient
+
+c = HsesClient("192.0.2.10")    # UDP 10040
+c.open()
+print(c.read_status())          # {'servo_on': False, 'teach': True, ...}
+print(c.read_d_var(0))          # D[0]
+c.close()
+```
+
+Transport-agnostic via `RobotConnection`:
+
+```python
+from yrcom import RobotConnection
+
+rc = RobotConnection("192.0.2.10", transport="hses")
+rc.connect()
+print(rc.status())              # same keys, whether HSES or ES
+```
+
+## Offline: the replay simulator
+
+Record a controller's real responses as JSON (tx/rx pairs per command, see
+`tests/fixtures/sample_capture.json` for the format) and replay them — the
+real `HsesClient` talks to the simulator:
+
+```python
+from yrcom import HsesReplayServer, HsesClient
+
+with HsesReplayServer.from_capture("capture.json") as srv:
+    c = HsesClient("127.0.0.1", srv.port); c.open()
+    print(c.read_status())      # recorded response, no robot needed
+```
+
+Or as a standalone server: `python -m yrcom.hses_sim capture.json --port 10040`.
+
+## Legal
+
+Independent community project, not affiliated with or endorsed by Yaskawa.
+*Yaskawa*, *Motoman* and *YRC1000* are trademarks of Yaskawa Electric
+Corporation and are used here descriptively (compatibility) only. The
+implementation is based on the publicly available protocol manuals
+(HW0483202, HW1483358).
+
+## Tests
+
+```bash
+pip install -e ".[dev]"
+pytest
+```
+
+The tests run **without a robot**: a stateful ES mock (`tests/mock_robot.py`)
+and a small HSES capture fixture (`tests/fixtures/`).
+
+## License
+
+MIT — see [LICENSE](LICENSE).

yrcom-0.2.0/README.md

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+# yrcom
+
+[![CI](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml/badge.svg)](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml)
+
+Yaskawa robot communication as a standalone Python library — a single,
+hardware-verified communication core meant to be shared across projects
+instead of being duplicated.
+
+The name: **YRC** (Yaskawa Robot Controller, e.g. YRC1000) + **COM**munication.
+
+**Pure stdlib** — no runtime dependencies. Import name: `yrcom`.
+
+## Transports
+
+| Class | Transport | Purpose |
+|---|---|---|
+| `YaskawaClient` | Ethernet Server, TCP 80 | classic host-control commands |
+| `HsesClient` | HSES, UDP 10040 | high speed: 45 commands (status, alarms, variables, IO, telemetry, motion) |
+| `HsesFileClient` | HSES File Control, UDP 10041 | read/write job files, file list, CMOS backup |
+| `RobotConnection` | ES + HSES behind one IP | pick the transport via `transport="hses"\|"ethernet"` |
+| `HsesReplayServer` | — (testing) | replays a recorded robot session as a UDP server → offline development/testing |
+
+Command coverage: HSES Robot Control **45/45**, File Control **5/5**
+(verified against real hardware: YRC1000, SW YAS5.40).
+
+## Installation
+
+```bash
+pip install yrcom           # from PyPI
+```
+
+For development:
+
+```bash
+pip install -e ".[dev]"     # editable install incl. pytest
+```
+
+## Quick start
+
+```python
+from yrcom import HsesClient
+
+c = HsesClient("192.0.2.10")    # UDP 10040
+c.open()
+print(c.read_status())          # {'servo_on': False, 'teach': True, ...}
+print(c.read_d_var(0))          # D[0]
+c.close()
+```
+
+Transport-agnostic via `RobotConnection`:
+
+```python
+from yrcom import RobotConnection
+
+rc = RobotConnection("192.0.2.10", transport="hses")
+rc.connect()
+print(rc.status())              # same keys, whether HSES or ES
+```
+
+## Offline: the replay simulator
+
+Record a controller's real responses as JSON (tx/rx pairs per command, see
+`tests/fixtures/sample_capture.json` for the format) and replay them — the
+real `HsesClient` talks to the simulator:
+
+```python
+from yrcom import HsesReplayServer, HsesClient
+
+with HsesReplayServer.from_capture("capture.json") as srv:
+    c = HsesClient("127.0.0.1", srv.port); c.open()
+    print(c.read_status())      # recorded response, no robot needed
+```
+
+Or as a standalone server: `python -m yrcom.hses_sim capture.json --port 10040`.
+
+## Legal
+
+Independent community project, not affiliated with or endorsed by Yaskawa.
+*Yaskawa*, *Motoman* and *YRC1000* are trademarks of Yaskawa Electric
+Corporation and are used here descriptively (compatibility) only. The
+implementation is based on the publicly available protocol manuals
+(HW0483202, HW1483358).
+
+## Tests
+
+```bash
+pip install -e ".[dev]"
+pytest
+```
+
+The tests run **without a robot**: a stateful ES mock (`tests/mock_robot.py`)
+and a small HSES capture fixture (`tests/fixtures/`).
+
+## License
+
+MIT — see [LICENSE](LICENSE).

yrcom-0.2.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=68"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "yrcom"
+version = "0.2.0"
+description = "Yaskawa robot communication — Ethernet Server, HSES and HSES File Control (pure stdlib)"
+readme = "README.md"
+requires-python = ">=3.11"
+license = { text = "MIT" }
+authors = [{ name = "cmosbk" }]
+keywords = ["yaskawa", "robot", "hses", "ethernet-server", "motoman", "yrc1000"]
+dependencies = []
+
+[project.optional-dependencies]
+dev = ["pytest>=8"]
+
+[project.scripts]
+yrcom-sim = "yrcom.hses_sim:_main"
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[project.urls]
+Homepage = "https://github.com/CMOSBK/yrcom"
+Issues = "https://github.com/CMOSBK/yrcom/issues"

yrcom-0.2.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

yrcom-0.2.0/src/yrcom/__init__.py

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+"""yrcom — Yaskawa robot communication (Ethernet Server + HSES + File Control).
+
+Pure-stdlib library. Three transports under one roof:
+
+- `YaskawaClient`   — classic Ethernet Server (TCP 80, host-control commands)
+- `HsesClient`      — High Speed Ethernet Server (UDP 10040, 45 commands)
+- `HsesFileClient`  — HSES File Control (UDP 10041, read/write job files)
+- `RobotConnection` — bundles ES + HSES behind one IP, selectable via `transport`
+- `HsesReplayServer`— replays a recorded session as a UDP server (offline dev/testing)
+"""
+from .yaskawa_client import VarType, YaskawaClient, EthernetServerClient
+from .hses_client import (
+    HsesClient,
+    HsesError,
+    PositionVar,
+    AxisPositionVar,
+    CartesianMove,
+    PulseMove,
+    MODEL_DX100,
+    MODEL_DX200,
+    MODEL_YRC1000,
+)
+from .hses_errors import status_text, added_status_text
+from .hses_file import HsesFileClient, HSES_FILE_PORT
+from .robot_connection import (
+    RobotConnection,
+    PersistentTcpClient,
+    HsesWriteBlockedError,
+    TRANSPORT_HSES,
+    TRANSPORT_ETHERNET,
+    HSES_PORT,
+    TCP_PORT,
+)
+from .hses_sim import HsesReplayServer
+
+__version__ = "0.2.0"
+
+__all__ = [
+    "YaskawaClient", "VarType", "EthernetServerClient",
+    "HsesClient", "HsesError",
+    "PositionVar", "AxisPositionVar", "CartesianMove", "PulseMove",
+    "MODEL_DX100", "MODEL_DX200", "MODEL_YRC1000",
+    "status_text", "added_status_text",
+    "HsesFileClient", "HSES_FILE_PORT",
+    "RobotConnection", "PersistentTcpClient", "HsesWriteBlockedError",
+    "TRANSPORT_HSES", "TRANSPORT_ETHERNET", "HSES_PORT", "TCP_PORT",
+    "HsesReplayServer",
+]