Metadata-Version: 2.1
Name: ri-sdk
Version: 0.1.0
Summary: RI SDK Pythonic Wrapper
Project-URL: Homepage, https://github.com/mahenzon/ri-sdk-python-wrapper
Project-URL: Documentation, https://github.com/mahenzon/ri-sdk-python-wrapper
Project-URL: Source code, https://github.com/mahenzon/ri-sdk-python-wrapper
Author-email: Suren Khorenyan <surenkhorenyan@gmail.com>
Maintainer-email: Suren Khorenyan <surenkhorenyan@gmail.com>
License-Expression: MIT
Keywords: RI SDK,RoboHand,RoboIntellect
Classifier: Development Status :: 5 - Production/Stable
Classifier: Environment :: Console
Classifier: Environment :: Other Environment
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: Information Technology
Classifier: Intended Audience :: Manufacturing
Classifier: License :: OSI Approved :: MIT License
Classifier: Natural Language :: English
Classifier: Natural Language :: Russian
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3 :: Only
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: 3.13
Classifier: Topic :: Education
Classifier: Topic :: Scientific/Engineering
Classifier: Topic :: Scientific/Engineering :: Human Machine Interfaces
Classifier: Topic :: Software Development
Classifier: Topic :: Software Development :: Code Generators
Classifier: Topic :: Software Development :: Libraries
Classifier: Topic :: System :: Hardware
Classifier: Topic :: Utilities
Classifier: Typing :: Typed
Requires-Python: >=3.8
Description-Content-Type: text/markdown

# RI SDK wrapper (autogenerated)

Parse RI SDK docs (https://docs.robointellect.ru/) and autogen Python wrapper.


### TODO:
- add tests
- GitHub Actions (lint)
- build w/ Hatch
- GitHub Actions (publish)
- create usage examples for robohand


### Install
```shell
pip install ri-sdk
```

### Run

```python
from ctypes import cdll, CDLL
import os
import platform
from pathlib import Path

from ri_sdk import RoboIntellectSDK
from ri_sdk.exceptions import MethodCallError


def get_lib() -> CDLL:
    """
    Подключаем внешнюю библиотеку для работы с SDK
    """
    my_platform = platform.system()
    if my_platform == "Windows":
        lib_name = "librisdk.dll"
    elif my_platform == "Linux":
        lib_name = "librisdk.so"
    else:
        raise Exception("Unsupported platform")

    lib_path = Path(os.getenv("LIB_RISDK_DIR", "."))
    lib_filepath = lib_path / lib_name
    if not lib_filepath.is_file():
        raise FileNotFoundError(lib_filepath)

    print("load lib", lib_filepath)
    lib = cdll.LoadLibrary(str(lib_filepath))
    return lib


def init_pwm(ri_sdk: RoboIntellectSDK) -> int:
    """
    создаем компонент ШИМ с конкретной моделью
    как исполняемое устройство,
    получаем дескриптор сервопривода

    :param ri_sdk:
    :return:
    """
    create_pwm_result = ri_sdk.create_model_component(
        group="connector",
        device_name="pwm",
        model_name="pca9685",
    )
    return create_pwm_result.descriptor


def init_i2c(ri_sdk: RoboIntellectSDK, pwm_descriptor: int) -> int:
    """
    Создаём компонент i2c адаптера
    примитивное определение подключенной модели адаптера
    пробуем создать i2c адаптер модели ch341 и связать с ним ШИМ
    если не прокатило, то пробуем создать i2c адаптер модели cp2112

    :param pwm_descriptor:
    :param ri_sdk:
    :return:
    """
    create_i2c_result = ri_sdk.create_model_component(
        group="connector",
        device_name="i2c_adapter",
        model_name="ch341",
    )

    # связываем i2c адаптер с ШИМ по адресу 0x40
    try:
        ri_sdk.link_pwm_to_controller(
            descriptor=pwm_descriptor,
            to=create_i2c_result.descriptor,
            addr=0x40,
        )
    except MethodCallError as e:
        print("caught error", e, "trying to create i2c adapter, gonna try another type")
    else:
        return create_i2c_result.descriptor

    create_i2c_result = ri_sdk.create_model_component(
        group="connector",
        device_name="i2c_adapter",
        model_name="cp2112",
    )

    # связываем i2c адаптер с ШИМ по адресу 0x40
    ri_sdk.link_pwm_to_controller(
        descriptor=pwm_descriptor,
        to=create_i2c_result.descriptor,
        addr=0x40,
    )


def init_led(ri_sdk: RoboIntellectSDK, pwm_descriptor: int) -> int:
    """
    Создаём компонент светодиода с конкретной моделью (ky016)
    как исполняемое устройство и получаем дескриптор светодиода

    :param ri_sdk:
    :param pwm_descriptor:
    :return:
    """

    create_led_result = ri_sdk.create_model_component(
        group="executor",
        device_name="led",
        model_name="ky016",
    )
    # связываем светодиод с ШИМ, передаем значения трех пинов к которым подключен светодиод
    ri_sdk.link_led_to_controller(
        descriptor=create_led_result.descriptor,
        pwm=pwm_descriptor,
        rport=15,  # red
        gport=14,  # green
        bport=13,  # blue
    )
    return create_led_result.descriptor


def main():
    lib = get_lib()
    ri_sdk = RoboIntellectSDK(
        lib=lib,
        setup_methods_args=True,
    )
    ri_sdk.init_sdk(log_level=1)
    pwm_descriptor = init_pwm(ri_sdk)
    i2c_descriptor = init_i2c(ri_sdk, pwm_descriptor)
    led_descriptor = init_led(ri_sdk, pwm_descriptor)
    print("i2c_descriptor:", i2c_descriptor)
    print("led_descriptor:", led_descriptor)

    # Устанавливаем фиолетовый цвет светодиода
    ri_sdk.exec_rgb_led_single_pulse(
        descriptor=led_descriptor,
        r=255,
        g=0,
        b=255,
        duration=0,
        run_async=True,
    )
    print("Done, bye!")


if __name__ == "__main__":
    main()

```

### Notes

Docs typo? sensor_voltage_sensor_read_reg_bytes read length is output type... but it's not
