yrcom 0.2.0__tar.gz → 0.3.1__tar.gz

{yrcom-0.2.0/src/yrcom.egg-info → yrcom-0.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: yrcom
-Version: 0.2.0
+Version: 0.3.1
 Summary: Yaskawa robot communication — Ethernet Server, HSES and HSES File Control (pure stdlib)
 Author: cmosbk
 License: MIT
@@ -12,12 +12,21 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Provides-Extra: dev
 Requires-Dist: pytest>=8; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: mkdocs>=1.6; extra == "docs"
+Requires-Dist: mkdocs-material>=9.5; extra == "docs"
+Requires-Dist: mkdocstrings[python]>=0.26; extra == "docs"
+Requires-Dist: black>=24; extra == "docs"
 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)
 
+📖 **Documentation: <https://cmosbk.github.io/yrcom/>** — getting started, the
+transport guide and the full API reference (every command, generated from the
+source).
+
 Yaskawa robot communication as a standalone Python library — a single,
 hardware-verified communication core meant to be shared across projects
 instead of being duplicated.
@@ -109,4 +118,4 @@ and a small HSES capture fixture (`tests/fixtures/`).
 
 ## License
 
-MIT — see [LICENSE](LICENSE).
+MIT — see [LICENSE](https://github.com/CMOSBK/yrcom/blob/main/LICENSE).

{yrcom-0.2.0 → yrcom-0.3.1}/README.md

@@ -2,6 +2,10 @@
 
 [![CI](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml/badge.svg)](https://github.com/CMOSBK/yrcom/actions/workflows/ci.yml)
 
+📖 **Documentation: <https://cmosbk.github.io/yrcom/>** — getting started, the
+transport guide and the full API reference (every command, generated from the
+source).
+
 Yaskawa robot communication as a standalone Python library — a single,
 hardware-verified communication core meant to be shared across projects
 instead of being duplicated.
@@ -93,4 +97,4 @@ and a small HSES capture fixture (`tests/fixtures/`).
 
 ## License
 
-MIT — see [LICENSE](LICENSE).
+MIT — see [LICENSE](https://github.com/CMOSBK/yrcom/blob/main/LICENSE).

{yrcom-0.2.0 → yrcom-0.3.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "yrcom"
-version = "0.2.0"
+version = "0.3.1"
 description = "Yaskawa robot communication — Ethernet Server, HSES and HSES File Control (pure stdlib)"
 readme = "README.md"
 requires-python = ">=3.11"
@@ -15,6 +15,7 @@ dependencies = []
 
 [project.optional-dependencies]
 dev = ["pytest>=8"]
+docs = ["mkdocs>=1.6", "mkdocs-material>=9.5", "mkdocstrings[python]>=0.26", "black>=24"]
 
 [project.scripts]
 yrcom-sim = "yrcom.hses_sim:_main"

{yrcom-0.2.0 → yrcom-0.3.1}/src/yrcom/__init__.py

@@ -32,8 +32,15 @@ from .robot_connection import (
     TCP_PORT,
 )
 from .hses_sim import HsesReplayServer
+from .hses_server_codec import (
+    ServerCommand,
+    MalformedRequest,
+    decode_request,
+    encode_response,
+    encode_error,
+)
 
-__version__ = "0.2.0"
+__version__ = "0.3.1"
 
 __all__ = [
     "YaskawaClient", "VarType", "EthernetServerClient",
@@ -45,4 +52,5 @@ __all__ = [
     "RobotConnection", "PersistentTcpClient", "HsesWriteBlockedError",
     "TRANSPORT_HSES", "TRANSPORT_ETHERNET", "HSES_PORT", "TCP_PORT",
     "HsesReplayServer",
+    "ServerCommand", "MalformedRequest", "decode_request", "encode_response", "encode_error",
 ]

{yrcom-0.2.0 → yrcom-0.3.1}/src/yrcom/hses_client.py

@@ -581,6 +581,8 @@ class HsesClient(_HsesSocket):
         position_group: int = 0,
         b_vars: "list[dict]" = [],
         i_vars: "list[dict]" = [],
+        d_vars: "list[dict]" = [],
+        r_vars: "list[dict]" = [],
         io_signals: "list[dict]" = [],
         read_cio: bool = False,
     ) -> dict:
@@ -590,7 +592,11 @@ class HsesClient(_HsesSocket):
         alarm_slots:    number of alarm history slots (0=skip, max 4)
         include_job:    read executing job info
         position_group: 0=skip, 1-8=pulse, 101-108=cartesian
-        b_vars/i_vars:  list of {"label": str, "no": int}
+        b_vars/i_vars/d_vars/r_vars:
+                        list of {"label": str, "no": int}. Each becomes one
+                        request inside the burst, so its value shares the
+                        instant of the rest of the row rather than arriving a
+                        round trip later.
         io_signals:     list of {"label": str, "logical": int}
 
         Returns flat dict of all decoded fields.
@@ -622,6 +628,14 @@ class HsesClient(_HsesSocket):
             reqs.append((_CMD_I_VAR, v["no"], 1, _SVC_GET_SINGLE, b""))
             tags.append(f"i_var:{v['label']}")
 
+        for v in d_vars:
+            reqs.append((_CMD_D_VAR, v["no"], 1, _SVC_GET_SINGLE, b""))
+            tags.append(f"d_var:{v['label']}")
+
+        for v in r_vars:
+            reqs.append((_CMD_R_VAR, v["no"], 1, _SVC_GET_SINGLE, b""))
+            tags.append(f"r_var:{v['label']}")
+
         # CIO counter: low byte at logical 72000 (inst 7200), high byte at 72010 (inst 7201)
         if read_cio:
             reqs.append((_CMD_IO_PLURAL, 7200, 0, _SVC_READ_ALL, struct.pack("<I", 2)))
@@ -666,6 +680,12 @@ class HsesClient(_HsesSocket):
             elif tag.startswith("i_var:"):
                 if resp.status == 0 and len(resp.data) >= 2:
                     out[f"var_{tag[6:]}"] = struct.unpack_from("<h", resp.data, 0)[0]
+            elif tag.startswith("d_var:"):
+                if resp.status == 0 and len(resp.data) >= 4:
+                    out[f"var_{tag[6:]}"] = struct.unpack_from("<i", resp.data, 0)[0]
+            elif tag.startswith("r_var:"):
+                if resp.status == 0 and len(resp.data) >= 4:
+                    out[f"var_{tag[6:]}"] = struct.unpack_from("<f", resp.data, 0)[0]
             elif tag == "cio":
                 if resp.status == 0 and len(resp.data) >= 6:
                     # response: 4-byte count + 2 data bytes

yrcom-0.3.1/src/yrcom/hses_server_codec.py

@@ -0,0 +1,93 @@
+"""
+Server-side HSES codec — the mirror image of hses_client.py's request
+builder/response parser. Decodes incoming request bytes into a
+ServerCommand; encodes results back into wire bytes.
+
+Wire header is the 32-byte YERC header, identical in both directions:
+    0:4    magic "YERC"
+    4:6    header size (u16, always 32)
+    6:8    data size (u16)
+    8      Reserve1 (0x03 fixed)
+    9      processing division (1 = robot control)
+    10     ACK (0 = request, 1 = response)
+    11     request id (echoed back)
+    12:16  block number
+    16:24  Reserve2 ("99999999" fixed)
+    24:26  command (u16) — in a response this is the ECHOED command
+    26:28  request: instance (u16)   | response: status (byte) + pad
+    28     request: attribute (byte) | response: added-status size (byte)
+    29     request: service (byte)   | response: pad
+    30:32  request: padding          | response: added-status word (u16)
+"""
+from __future__ import annotations
+
+import struct
+from dataclasses import dataclass
+
+_MAGIC = b"YERC"
+_HDR_SIZE = 0x0020
+
+
+@dataclass(frozen=True)
+class ServerCommand:
+    cmd: int
+    instance: int
+    attribute: int
+    service: int
+    req_id: int
+    payload: bytes
+
+
+class MalformedRequest(Exception):
+    """Raw bytes are too short, or the header magic/size doesn't match."""
+
+
+def decode_request(raw: bytes) -> ServerCommand:
+    if len(raw) < _HDR_SIZE:
+        raise MalformedRequest(f"request too short: {len(raw)} B")
+    if raw[0:4] != _MAGIC:
+        raise MalformedRequest(f"bad magic: {raw[0:4]!r}")
+    data_size = struct.unpack_from("<H", raw, 6)[0]
+    req_id = raw[11]
+    cmd = struct.unpack_from("<H", raw, 24)[0]
+    instance = struct.unpack_from("<H", raw, 26)[0]
+    attribute = raw[28]
+    service = raw[29]
+    payload = raw[_HDR_SIZE:_HDR_SIZE + data_size]
+    return ServerCommand(cmd=cmd, instance=instance, attribute=attribute,
+                          service=service, req_id=req_id, payload=payload)
+
+
+def _response_header(cmd: int, req_id: int, data_size: int) -> bytearray:
+    hdr = bytearray(_HDR_SIZE)
+    hdr[0:4] = _MAGIC
+    struct.pack_into("<H", hdr, 4, _HDR_SIZE)
+    struct.pack_into("<H", hdr, 6, data_size)
+    hdr[8] = 0x03
+    hdr[9] = 1          # processing division: robot control
+    hdr[10] = 0x01       # ACK = response
+    hdr[11] = req_id
+    struct.pack_into("<I", hdr, 12, 0)
+    hdr[16:24] = b"99999999"
+    struct.pack_into("<H", hdr, 24, cmd)
+    return hdr
+
+
+def encode_response(cmd: int, req_id: int, data: bytes = b"") -> bytes:
+    """Success response (status 0x00, no added-status)."""
+    hdr = _response_header(cmd, req_id, len(data))
+    hdr[26] = 0x00   # status
+    hdr[27] = 0
+    hdr[28] = 0       # added-status size
+    struct.pack_into("<H", hdr, 30, 0)
+    return bytes(hdr) + data
+
+
+def encode_error(cmd: int, req_id: int, status: int, added: int = 0) -> bytes:
+    """Error response — empty data, given status/added-status."""
+    hdr = _response_header(cmd, req_id, 0)
+    hdr[26] = status
+    hdr[27] = 0
+    hdr[28] = 1 if added else 0
+    struct.pack_into("<H", hdr, 30, added)
+    return bytes(hdr)

{yrcom-0.2.0 → yrcom-0.3.1/src/yrcom.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: yrcom
-Version: 0.2.0
+Version: 0.3.1
 Summary: Yaskawa robot communication — Ethernet Server, HSES and HSES File Control (pure stdlib)
 Author: cmosbk
 License: MIT
@@ -12,12 +12,21 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Provides-Extra: dev
 Requires-Dist: pytest>=8; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: mkdocs>=1.6; extra == "docs"
+Requires-Dist: mkdocs-material>=9.5; extra == "docs"
+Requires-Dist: mkdocstrings[python]>=0.26; extra == "docs"
+Requires-Dist: black>=24; extra == "docs"
 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)
 
+📖 **Documentation: <https://cmosbk.github.io/yrcom/>** — getting started, the
+transport guide and the full API reference (every command, generated from the
+source).
+
 Yaskawa robot communication as a standalone Python library — a single,
 hardware-verified communication core meant to be shared across projects
 instead of being duplicated.
@@ -109,4 +118,4 @@ and a small HSES capture fixture (`tests/fixtures/`).
 
 ## License
 
-MIT — see [LICENSE](LICENSE).
+MIT — see [LICENSE](https://github.com/CMOSBK/yrcom/blob/main/LICENSE).

{yrcom-0.2.0 → yrcom-0.3.1}/src/yrcom.egg-info/SOURCES.txt

@@ -5,6 +5,7 @@ src/yrcom/__init__.py
 src/yrcom/hses_client.py
 src/yrcom/hses_errors.py
 src/yrcom/hses_file.py
+src/yrcom/hses_server_codec.py
 src/yrcom/hses_sim.py
 src/yrcom/robot_connection.py
 src/yrcom/yaskawa_client.py
@@ -16,6 +17,7 @@ src/yrcom.egg-info/requires.txt
 src/yrcom.egg-info/top_level.txt
 tests/test_hses_client.py
 tests/test_hses_file.py
+tests/test_hses_server_codec.py
 tests/test_hses_sim.py
 tests/test_robot_connection.py
 tests/test_yaskawa_client.py

yrcom-0.3.1/src/yrcom.egg-info/requires.txt

@@ -0,0 +1,9 @@
+
+[dev]
+pytest>=8
+
+[docs]
+mkdocs>=1.6
+mkdocs-material>=9.5
+mkdocstrings[python]>=0.26
+black>=24

{yrcom-0.2.0 → yrcom-0.3.1}/tests/test_hses_client.py

@@ -624,6 +624,30 @@ def test_poll_all_status_and_job():
     assert out["job_name"] == "MASTER"
 
 
+def test_poll_all_reads_every_variable_kind_in_one_burst():
+    """D and R used to be reachable only as standalone reads, which put their
+    value a round trip away from the rest of the row."""
+    status_data = struct.pack("<II", 0x40, 0x40)
+    c, _ = _client([
+        _reply(hc._CMD_STATUS, status_data, req_id=1),
+        _reply(hc._CMD_B_VAR, struct.pack("<B", 7), req_id=2),
+        _reply(hc._CMD_I_VAR, struct.pack("<h", -3), req_id=3),
+        _reply(hc._CMD_D_VAR, struct.pack("<i", -70000), req_id=4),
+        _reply(hc._CMD_R_VAR, struct.pack("<f", 1.5), req_id=5),
+    ])
+    out = c.poll_all(
+        include_job=False,
+        b_vars=[{"label": "b", "no": 1}],
+        i_vars=[{"label": "i", "no": 2}],
+        d_vars=[{"label": "d", "no": 3}],
+        r_vars=[{"label": "r", "no": 4}],
+    )
+    assert out["var_b"] == 7
+    assert out["var_i"] == -3
+    assert out["var_d"] == -70000          # signed 32-bit, beyond an I variable
+    assert out["var_r"] == pytest.approx(1.5)
+
+
 def test_poll_all_raises_on_status_error():
     c, _ = _client([_reply(hc._CMD_STATUS, b"", req_id=1, status=0x08)])
     with pytest.raises(HsesError):

yrcom-0.3.1/tests/test_hses_server_codec.py

@@ -0,0 +1,74 @@
+"""Pure protocol-logic tests — no sockets, no MotoSim. Builds real request
+bytes via HsesClient._build (the verified client-side packer) and checks the
+new server-side decoder reads them back correctly."""
+from __future__ import annotations
+
+import pytest
+
+from yrcom.hses_client import HsesClient
+from yrcom.hses_server_codec import MalformedRequest, ServerCommand, decode_request
+
+
+def test_decode_matches_a_real_status_request():
+    raw = HsesClient._build(cmd=0x72, instance=1, attribute=0, service=0x01, req_id=5)
+    sc = decode_request(raw)
+    assert sc == ServerCommand(cmd=0x72, instance=1, attribute=0, service=0x01,
+                                req_id=5, payload=b"")
+
+
+def test_decode_carries_payload():
+    raw = HsesClient._build(cmd=0x7A, instance=3, attribute=1, service=0x10,
+                             req_id=200, payload=b"\x2a\x00\x00\x00")
+    sc = decode_request(raw)
+    assert sc.cmd == 0x7A
+    assert sc.instance == 3
+    assert sc.payload == b"\x2a\x00\x00\x00"
+
+
+def test_decode_rejects_short_input():
+    with pytest.raises(MalformedRequest):
+        decode_request(b"too short")
+
+
+def test_decode_rejects_bad_magic():
+    raw = bytearray(HsesClient._build(cmd=0x72, instance=1, attribute=0,
+                                       service=0x01, req_id=1))
+    raw[0:4] = b"XXXX"
+    with pytest.raises(MalformedRequest):
+        decode_request(bytes(raw))
+
+
+def test_encode_response_round_trips_through_real_client_parser():
+    # HsesClient._parse_resp is the real, hardware-verified response parser —
+    # proving our encoder's bytes satisfy it is the strongest test we have
+    # without a socket.
+    from yrcom.hses_client import HsesClient
+    from yrcom.hses_server_codec import encode_response
+
+    raw = encode_response(cmd=0x72, req_id=9, data=b"\x01\x00\x00\x00\x00\x00\x00\x00")
+    resp = HsesClient._parse_resp(raw)
+    assert resp.cmd == 0x72
+    assert resp.status == 0x00
+    assert resp.added == 0
+    assert resp.data == b"\x01\x00\x00\x00\x00\x00\x00\x00"
+
+
+def test_encode_error_round_trips_and_raises_hses_error():
+    from yrcom.hses_client import HsesClient, HsesError
+    from yrcom.hses_server_codec import encode_error
+
+    raw = encode_error(cmd=0x75, req_id=1, status=0x1F, added=0xB005)
+    resp = HsesClient._parse_resp(raw)
+    assert resp.status == 0x1F
+    assert resp.added == 0xB005
+    assert resp.data == b""
+
+
+def test_encode_error_without_added_status():
+    from yrcom.hses_client import HsesClient
+    from yrcom.hses_server_codec import encode_error
+
+    raw = encode_error(cmd=0x00, req_id=1, status=0x08)
+    resp = HsesClient._parse_resp(raw)
+    assert resp.status == 0x08
+    assert resp.added == 0

yrcom-0.2.0/src/yrcom.egg-info/requires.txt

@@ -1,3 +0,0 @@
-
-[dev]
-pytest>=8