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lebai controller python sdk

Project description

lebai-sdk的源代码仓库,可以用于控制乐白机械臂.

OS C++ Python C# Java
Linux Status Status Status TODO
Windows TODO TODO Status TODO

上图中显示TODO的地方表示该平台该语言的实现还存在问题,没有完全测试通过,后续会陆续完成。

上图中显示TODO的地方表示该平台该语言的实现还存在问题,没有完全测试通过,后续会陆续完成。

SDK在线文档中包含了lua语言的接口(本项目参考了lua语言进行接口设置,但是本项目和lua语言的接口无直接关系)

包管理直接安装

python

python开发可以直接从PyPI安装.

目前python仅支持linux平台,windows平台还存在问题.

pip install pylebai

目前支持的Python版本有

  • 3.6
  • 3.7
  • 3.8
  • 3.9
  • 3.10

python开发可以直接从PyPI安装.

.net

.net平台开发可以直接从Nuget安装,使用C#进行开发.

dotnet add package lebai

目前支持的.net版本有

  • 6.0

从源代码构建安装

Ubuntu&&Debian平台

依赖

  • gcc or clang support c++14
  • cmake >= 3.18
  • swig >= 4.0
  • python3 >= 3.5 (可选,如果需要生成python的接口库)
  • doxygen (可选,如果需要C++文档)
  • jdk, maven(可选,如果需要生成java的接口库)

相对旧的发行版系统cmake和swig版本过低,不能使用,可以通过pip安装较新的版本:

sudo apt install build-essential python3-pip dpkg-dev
sudo pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple -r requirements.txt
# 如果需要生成文档,还需要安装doxygen
sudo apt install doxygen graphviz
# 如果需要生成python3的wrapper包
sudo apt install python3-dev python3-setuptools
# 如果需要生成python2的wrapper包
sudo apt install python-dev python-setuptools

编译

# 生成编译配置
cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON -DBUILD_TESTING=OFF 
# 编译
cmake --build build
# 运行单元测试
cmake --build build --target test
## 生成DEB包
cd build
cpack

Windows平台 Visual Studio

依赖

  • Visual Studio(C++ Support)
  • CMake >= 3.18
  • python3 >= 3.5 (可选,如果需要生成python的接口库)

安装python库时,选择 Download debug binaries

在Visual Studio中载入CMake工程,即可以生成构建运行测试等.

目前Windows平台下python的binding部分还存在问题无法工作.

编译选项

  • BUILD_PYTHON: 是否编译python3接口 默认为OFF
  • BUILD_PYTHON2: 是否编译python2接口 默认为OFF
  • PYTHONPATH: PYTHON的安装目录
  • BUILD_DOTNET: 是否编译.NET接口 默认为OFF(请先安装好.NET的开发环境)
  • BUILD_JAVA: 是否编译JAVA接口 默认为OFF(请先安装好JDK和Maven)
  • BUILD_TESTING: 是否编译C++测试程序 默认为ON
  • TEST_ROBOT_IP: 测试程序的机器人IP地址,正确的设置该值用于单元测试 默认为127.0.0.1
  • BUILD_EXAMPLES: 是否编译示例程序 默认为ON
  • BUILD_DEB: 是否生成DEB包的构建 默认为OFF
  • ENABLE_TSAN: 编译是否启用Thread sanitizer检查 默认为OFF

使用

您可以通过docs目录下的文档了解更多各语言的信息.

Python

build目录下会生成python的whl包,可以直接使用:

cd build/python/dist
## 安装
pip3 install pylebai-xxx.whl
### XXX取决于您的sdk版本,python版本,操作系统平台.
## 卸载
pip3 uninstall pylebai

第三方库

lebai-sdk使用如下第三方软件:

软件名 协议 官方网站
Asio Boost https://think-async.com/Asio/
rapidjson MIT https://rapidjson.org/
websocketpp BSD https://www.zaphoyd.com/websocketpp
mdns public domain https://github.com/mjansson/mdns

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