yrcom 0.3.0__tar.gz → 0.3.1__tar.gz

{yrcom-0.3.0/src/yrcom.egg-info → yrcom-0.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: yrcom
-Version: 0.3.0
+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.

{yrcom-0.3.0 → 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.

{yrcom-0.3.0 → yrcom-0.3.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "yrcom"
-version = "0.3.0"
+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-0.3.0 → yrcom-0.3.1}/src/yrcom/__init__.py

@@ -40,7 +40,7 @@ from .hses_server_codec import (
     encode_error,
 )
 
-__version__ = "0.3.0"
+__version__ = "0.3.1"
 
 __all__ = [
     "YaskawaClient", "VarType", "EthernetServerClient",

{yrcom-0.3.0 → 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-0.3.0 → yrcom-0.3.1/src/yrcom.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: yrcom
-Version: 0.3.0
+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.

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-0.3.0 → 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-0.3.0/src/yrcom.egg-info/requires.txt

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