├── .gitignore ├── CODESTYLE.md ├── LICENSE ├── README.md ├── VisualCppRedist_AIO_20200707.exe ├── docs ├── Makefile ├── make.bat └── source │ ├── code_env_setup.rst │ ├── conf.py │ ├── extension_module │ ├── ir_distance_sensor.rst │ ├── robotic_arm_and_gripper.rst │ ├── sensor_adapter.rst │ ├── servo.rst │ └── uart.rst │ ├── images │ ├── 6EPlocate.png │ ├── arduino.jpg │ ├── arm&gripper.png │ ├── arm_pwm.png │ ├── cmd1.png │ ├── connect.png │ ├── direct_connection_change.png │ ├── download_sdk.png │ ├── engineer.png │ ├── form_control.gif │ ├── infantry.png │ ├── ip.png │ ├── ip_add.png │ ├── libmedia_err.png │ ├── log_file.png │ ├── microbit.png │ ├── nano.png │ ├── neti_err.jpg │ ├── networking_connection_change.png │ ├── networking_connection_key.png │ ├── pinboard.png │ ├── pip_install_error.jpg │ ├── python_env.png │ ├── python_version.png │ ├── qrcode.png │ ├── raspberry.png │ ├── robomaster.jpg │ ├── servo.png │ ├── sn_num.jpg │ ├── tello_power.png │ ├── third_part.jpg │ ├── third_part.png │ ├── tof.png │ ├── tof_module.png │ ├── uart.png │ ├── uart_pc.png │ ├── uart_serial.png │ ├── uart_serial_sdk.png │ ├── ubuntu_python_setup1.png │ ├── ubuntu_python_setup2.png │ ├── ubuntu_python_setup3.png │ ├── vc2014.PNG │ ├── vc_exe.png │ ├── vs_build_tool.png │ ├── wifi_direct.png │ ├── wifi_sta.png │ ├── win_python_setup1.png │ ├── win_python_setup2.png │ └── zip.png │ ├── index.rst │ ├── introduction.rst │ ├── python │ ├── apis.rst │ ├── armor.rst │ ├── code │ │ ├── multi_comm.py │ │ └── stage.py │ ├── custom_ui.rst │ ├── custom_ui_doc │ │ ├── Button.rst │ │ ├── Common.rst │ │ ├── Dropdown.rst │ │ ├── Input_field.rst │ │ ├── Stage.rst │ │ ├── Text.rst │ │ └── Toggle.rst │ ├── custom_ui_info.rst │ ├── feature.rst │ ├── gripper.rst │ ├── ir_blaster.rst │ ├── ir_distance_sensor.rst │ ├── multi_comm.rst │ ├── multi_comm_info.rst │ ├── python_api.rst │ ├── robot.rst │ ├── robotic_arm.rst │ ├── sensor_adapter.rst │ ├── servo.rst │ ├── uart.rst │ └── vision.rst │ ├── python_sdk │ ├── apis.rst │ ├── beginner.rst │ ├── beginner_drone.rst │ ├── beginner_ep.rst │ ├── beginner_multi_robot.rst │ ├── conf.py │ ├── connection.rst │ ├── downloads.rst │ ├── installs.rst │ ├── log.rst │ ├── modules.rst │ ├── multi_robot_apis.rst │ ├── multi_robot_drone_example.rst │ ├── multi_robot_ep.rst │ └── robomaster.rst │ ├── text_sdk │ ├── apis.rst │ ├── connection.rst │ ├── data_define.rst │ ├── intro.rst │ ├── multi_ctrl.rst │ ├── protocol_api.rst │ └── protocol_struct.rst │ ├── third_part_comm.rst │ └── version.rst ├── examples ├── 00_general │ └── 01_sdk_version.py ├── 01_robot │ ├── 00_logger.py │ ├── 01_get_version.py │ ├── 02_get_sn.py │ ├── 03_play_audio.py │ ├── 03_play_sound.py │ ├── 04_ap_conn.py │ ├── 05_sta_conn.py │ ├── 05_sta_conn_helper.py │ ├── 05_sta_conn_sn.py │ ├── 06_rndis_conn.py │ ├── 07_tcp_protocol.py │ ├── 08_udp_protocol.py │ ├── 09_set_mode.py │ ├── demo1.wav │ └── demo2.wav ├── 02_chassis │ ├── 01_move.py │ ├── 02_wheel.py │ ├── 03_speed.py │ ├── 04_sub_attitude.py │ ├── 05_sub_position.py │ ├── 06_sub_imu.py │ ├── 07_sub_status.py │ ├── 08_sub_esc.py │ ├── 09_sub_all.py │ ├── 10_serial.py │ └── 11_pwm.py ├── 03_gimbal │ ├── 01_move.py │ ├── 02_speed.py │ ├── 03_control.py │ ├── 04_recenter.py │ └── 05_sub_angle.py ├── 04_camera │ ├── 01_video_with_display.py │ ├── 02_video_strategy.py │ ├── 03_video_without_display.py │ ├── 04_audio_without_playing.py │ └── 05_record_audio.py ├── 05_vision │ ├── 01_marker.py │ ├── 02_line.py │ ├── 03_person.py │ ├── 04_robot.py │ └── 05_gesture.py ├── 06_blaster │ ├── 01_fire.py │ └── 02_led.py ├── 07_led │ ├── 01_set_led.py │ └── 02_set_gimbal_led.py ├── 08_battery │ └── 01_sub_battery.py ├── 09_armor │ ├── 01_hit_event.py │ └── 02_ir_event.py ├── 10_robotic_arm │ ├── 01_move.py │ └── 02_sub_position.py ├── 11_gripper │ ├── 01_open_close.py │ └── 02_sub_status.py ├── 12_drone │ ├── 00_logger.py │ ├── 01_ap_conn.py │ ├── 02_get_version.py │ ├── 03_get_sn.py │ ├── 04_get_battery.py │ ├── 05_takeoff_land.py │ ├── 06_rotate.py │ ├── 07_forward_backward.py │ ├── 08_up_down.py │ ├── 09_left_right.py │ ├── 10_go.py │ ├── 11_curve.py │ ├── 12_flip.py │ ├── 13_rc.py │ ├── 14_mission_pad.py │ ├── 15_jump.py │ ├── 16_video_stream.py │ ├── 17_sub_info.py │ ├── 18_sub_battery.py │ ├── 19_sub_flight.py │ ├── 20_led.py │ ├── 21_mled.py │ ├── 22_tof.py │ ├── 23_set_sta.py │ └── 24_get_ssid.py ├── 13_servo │ └── 01_set_angle.py ├── 14_sensor │ ├── 01_get_data.py │ ├── 02_tof_data.py │ └── 03_io_data.py ├── 15_multi_robot │ ├── multi_drone │ │ ├── 01_scan_ip.py │ │ ├── 02_basic.py │ │ ├── 03_takeoff_land.py │ │ ├── 04_flight.py │ │ ├── 05_go.py │ │ ├── 06_led.py │ │ └── 07_takeoff_order.py │ └── multi_ep │ │ ├── 01_scan_robot_sn.py │ │ ├── 02_two_ep_demo.py │ │ └── 03_six_ep_demo.py ├── 16_gamesystem │ └── 00_gamesystem.py ├── 17_ai_module │ ├── 00_ai_module_ep.py │ └── 01_ai_module_tt.py └── plaintext_sample_code │ ├── README.md │ └── RoboMasterEP │ ├── connection │ ├── README.md │ ├── network │ │ ├── README.md │ │ ├── direct_connection.py │ │ ├── networking_connection.py │ │ ├── robot_connection.py │ │ └── usb_connection.py │ └── uart │ │ ├── README.md │ │ └── uart_connection.py │ └── stream │ ├── decoder │ ├── README.md │ ├── build.sh │ ├── src │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── FindOpus.cmake │ │ ├── h264_decoder │ │ │ ├── h264decoder.cpp │ │ │ └── h264decoder.hpp │ │ ├── opus_decoder │ │ │ ├── opus_decoder.cpp │ │ │ └── opus_decoder.h │ │ └── pybind11 │ │ │ ├── CMakeLists.txt │ │ │ ├── CONTRIBUTING.md │ │ │ ├── ISSUE_TEMPLATE.md │ │ │ ├── LICENSE │ │ │ ├── MANIFEST.in │ │ │ ├── README.md │ │ │ ├── docs │ │ │ ├── Doxyfile │ │ │ ├── Makefile │ │ │ ├── _static │ │ │ │ └── theme_overrides.css │ │ │ ├── advanced │ │ │ │ ├── cast │ │ │ │ │ ├── chrono.rst │ │ │ │ │ ├── custom.rst │ │ │ │ │ ├── eigen.rst │ │ │ │ │ ├── functional.rst │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── overview.rst │ │ │ │ │ ├── stl.rst │ │ │ │ │ └── strings.rst │ │ │ │ ├── classes.rst │ │ │ │ ├── embedding.rst │ │ │ │ ├── exceptions.rst │ │ │ │ ├── functions.rst │ │ │ │ ├── misc.rst │ │ │ │ ├── pycpp │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── numpy.rst │ │ │ │ │ ├── object.rst │ │ │ │ │ └── utilities.rst │ │ │ │ └── smart_ptrs.rst │ │ │ ├── basics.rst │ │ │ ├── benchmark.py │ │ │ ├── benchmark.rst │ │ │ ├── changelog.rst │ │ │ ├── classes.rst │ │ │ ├── compiling.rst │ │ │ ├── conf.py │ │ │ ├── faq.rst │ │ │ ├── index.rst │ │ │ ├── intro.rst │ │ │ ├── limitations.rst │ │ │ ├── pybind11-logo.png │ │ │ ├── pybind11_vs_boost_python1.png │ │ │ ├── pybind11_vs_boost_python1.svg │ │ │ ├── pybind11_vs_boost_python2.png │ │ │ ├── pybind11_vs_boost_python2.svg │ │ │ ├── reference.rst │ │ │ ├── release.rst │ │ │ ├── requirements.txt │ │ │ └── upgrade.rst │ │ │ ├── include │ │ │ └── pybind11 │ │ │ │ ├── attr.h │ │ │ │ ├── buffer_info.h │ │ │ │ ├── cast.h │ │ │ │ ├── chrono.h │ │ │ │ ├── common.h │ │ │ │ ├── complex.h │ │ │ │ ├── detail │ │ │ │ ├── class.h │ │ │ │ ├── common.h │ │ │ │ ├── descr.h │ │ │ │ ├── init.h │ │ │ │ ├── internals.h │ │ │ │ └── typeid.h │ │ │ │ ├── eigen.h │ │ │ │ ├── embed.h │ │ │ │ ├── eval.h │ │ │ │ ├── functional.h │ │ │ │ ├── iostream.h │ │ │ │ ├── numpy.h │ │ │ │ ├── operators.h │ │ │ │ ├── options.h │ │ │ │ ├── pybind11.h │ │ │ │ ├── pytypes.h │ │ │ │ ├── stl.h │ │ │ │ └── stl_bind.h │ │ │ ├── pybind11 │ │ │ ├── __init__.py │ │ │ ├── __main__.py │ │ │ └── _version.py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ ├── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── conftest.py │ │ │ ├── constructor_stats.h │ │ │ ├── cross_module_gil_utils.cpp │ │ │ ├── cross_module_gil_utils.so │ │ │ ├── local_bindings.h │ │ │ ├── object.h │ │ │ ├── pybind11_cross_module_tests.cpp │ │ │ ├── pybind11_cross_module_tests.so │ │ │ ├── pybind11_tests.cpp │ │ │ ├── pybind11_tests.h │ │ │ ├── pybind11_tests.so │ │ │ ├── pytest.ini │ │ │ ├── test_async.cpp │ │ │ ├── test_async.py │ │ │ ├── test_buffers.cpp │ │ │ ├── test_buffers.py │ │ │ ├── test_builtin_casters.cpp │ │ │ ├── test_builtin_casters.py │ │ │ ├── test_call_policies.cpp │ │ │ ├── test_call_policies.py │ │ │ ├── test_callbacks.cpp │ │ │ ├── test_callbacks.py │ │ │ ├── test_chrono.cpp │ │ │ ├── test_chrono.py │ │ │ ├── test_class.cpp │ │ │ ├── test_class.py │ │ │ ├── test_cmake_build │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── embed.cpp │ │ │ │ ├── installed_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── main.cpp │ │ │ │ ├── subdirectory_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ └── test.py │ │ │ ├── test_constants_and_functions.cpp │ │ │ ├── test_constants_and_functions.py │ │ │ ├── test_copy_move.cpp │ │ │ ├── test_copy_move.py │ │ │ ├── test_docstring_options.cpp │ │ │ ├── test_docstring_options.py │ │ │ ├── test_eigen.cpp │ │ │ ├── test_eigen.py │ │ │ ├── test_embed │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── catch.cpp │ │ │ │ ├── external_module.cpp │ │ │ │ ├── test_interpreter.cpp │ │ │ │ └── test_interpreter.py │ │ │ ├── test_enum.cpp │ │ │ ├── test_enum.py │ │ │ ├── test_eval.cpp │ │ │ ├── test_eval.py │ │ │ ├── test_eval_call.py │ │ │ ├── test_exceptions.cpp │ │ │ ├── test_exceptions.py │ │ │ ├── test_factory_constructors.cpp │ │ │ ├── test_factory_constructors.py │ │ │ ├── test_gil_scoped.cpp │ │ │ ├── test_gil_scoped.py │ │ │ ├── test_iostream.cpp │ │ │ ├── test_iostream.py │ │ │ ├── test_kwargs_and_defaults.cpp │ │ │ ├── test_kwargs_and_defaults.py │ │ │ ├── test_local_bindings.cpp │ │ │ ├── test_local_bindings.py │ │ │ ├── test_methods_and_attributes.cpp │ │ │ ├── test_methods_and_attributes.py │ │ │ ├── test_modules.cpp │ │ │ ├── test_modules.py │ │ │ ├── test_multiple_inheritance.cpp │ │ │ ├── test_multiple_inheritance.py │ │ │ ├── test_numpy_array.cpp │ │ │ ├── test_numpy_array.py │ │ │ ├── test_numpy_dtypes.cpp │ │ │ ├── test_numpy_dtypes.py │ │ │ ├── test_numpy_vectorize.cpp │ │ │ ├── test_numpy_vectorize.py │ │ │ ├── test_opaque_types.cpp │ │ │ ├── test_opaque_types.py │ │ │ ├── test_operator_overloading.cpp │ │ │ ├── test_operator_overloading.py │ │ │ ├── test_pickling.cpp │ │ │ ├── test_pickling.py │ │ │ ├── test_pytypes.cpp │ │ │ ├── test_pytypes.py │ │ │ ├── test_sequences_and_iterators.cpp │ │ │ ├── test_sequences_and_iterators.py │ │ │ ├── test_smart_ptr.cpp │ │ │ ├── test_smart_ptr.py │ │ │ ├── test_stl.cpp │ │ │ ├── test_stl.py │ │ │ ├── test_stl_binders.cpp │ │ │ ├── test_stl_binders.py │ │ │ ├── test_tagbased_polymorphic.cpp │ │ │ ├── test_tagbased_polymorphic.py │ │ │ ├── test_union.cpp │ │ │ ├── test_union.py │ │ │ ├── test_virtual_functions.cpp │ │ │ └── test_virtual_functions.py │ │ │ └── tools │ │ │ ├── FindCatch.cmake │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindPythonLibsNew.cmake │ │ │ ├── check-style.sh │ │ │ ├── libsize.py │ │ │ ├── mkdoc.py │ │ │ ├── pybind11Config.cmake.in │ │ │ └── pybind11Tools.cmake │ ├── ubuntu │ │ ├── build.sh │ │ └── src │ │ │ ├── CMakeLists.txt │ │ │ ├── cmake │ │ │ └── FindOpus.cmake │ │ │ ├── h264_decoder │ │ │ ├── h264decoder.cpp │ │ │ └── h264decoder.hpp │ │ │ ├── opus_decoder │ │ │ ├── opus_decoder.cpp │ │ │ └── opus_decoder.h │ │ │ └── pybind11 │ │ │ ├── CMakeLists.txt │ │ │ ├── CONTRIBUTING.md │ │ │ ├── ISSUE_TEMPLATE.md │ │ │ ├── LICENSE │ │ │ ├── MANIFEST.in │ │ │ ├── README.md │ │ │ ├── docs │ │ │ ├── Doxyfile │ │ │ ├── Makefile │ │ │ ├── _static │ │ │ │ └── theme_overrides.css │ │ │ ├── advanced │ │ │ │ ├── cast │ │ │ │ │ ├── chrono.rst │ │ │ │ │ ├── custom.rst │ │ │ │ │ ├── eigen.rst │ │ │ │ │ ├── functional.rst │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── overview.rst │ │ │ │ │ ├── stl.rst │ │ │ │ │ └── strings.rst │ │ │ │ ├── classes.rst │ │ │ │ ├── embedding.rst │ │ │ │ ├── exceptions.rst │ │ │ │ ├── functions.rst │ │ │ │ ├── misc.rst │ │ │ │ ├── pycpp │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── numpy.rst │ │ │ │ │ ├── object.rst │ │ │ │ │ └── utilities.rst │ │ │ │ └── smart_ptrs.rst │ │ │ ├── basics.rst │ │ │ ├── benchmark.py │ │ │ ├── benchmark.rst │ │ │ ├── changelog.rst │ │ │ ├── classes.rst │ │ │ ├── compiling.rst │ │ │ ├── conf.py │ │ │ ├── faq.rst │ │ │ ├── index.rst │ │ │ ├── intro.rst │ │ │ ├── limitations.rst │ │ │ ├── pybind11-logo.png │ │ │ ├── pybind11_vs_boost_python1.png │ │ │ ├── pybind11_vs_boost_python1.svg │ │ │ ├── pybind11_vs_boost_python2.png │ │ │ ├── pybind11_vs_boost_python2.svg │ │ │ ├── reference.rst │ │ │ ├── release.rst │ │ │ ├── requirements.txt │ │ │ └── upgrade.rst │ │ │ ├── include │ │ │ └── pybind11 │ │ │ │ ├── attr.h │ │ │ │ ├── buffer_info.h │ │ │ │ ├── cast.h │ │ │ │ ├── chrono.h │ │ │ │ ├── common.h │ │ │ │ ├── complex.h │ │ │ │ ├── detail │ │ │ │ ├── class.h │ │ │ │ ├── common.h │ │ │ │ ├── descr.h │ │ │ │ ├── init.h │ │ │ │ ├── internals.h │ │ │ │ └── typeid.h │ │ │ │ ├── eigen.h │ │ │ │ ├── embed.h │ │ │ │ ├── eval.h │ │ │ │ ├── functional.h │ │ │ │ ├── iostream.h │ │ │ │ ├── numpy.h │ │ │ │ ├── operators.h │ │ │ │ ├── options.h │ │ │ │ ├── pybind11.h │ │ │ │ ├── pytypes.h │ │ │ │ ├── stl.h │ │ │ │ └── stl_bind.h │ │ │ ├── pybind11 │ │ │ ├── __init__.py │ │ │ ├── __main__.py │ │ │ └── _version.py │ │ │ ├── setup.cfg │ │ │ ├── setup.py │ │ │ ├── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── conftest.py │ │ │ ├── constructor_stats.h │ │ │ ├── cross_module_gil_utils.cpp │ │ │ ├── cross_module_gil_utils.so │ │ │ ├── local_bindings.h │ │ │ ├── object.h │ │ │ ├── pybind11_cross_module_tests.cpp │ │ │ ├── pybind11_cross_module_tests.so │ │ │ ├── pybind11_tests.cpp │ │ │ ├── pybind11_tests.h │ │ │ ├── pybind11_tests.so │ │ │ ├── pytest.ini │ │ │ ├── test_async.cpp │ │ │ ├── test_async.py │ │ │ ├── test_buffers.cpp │ │ │ ├── test_buffers.py │ │ │ ├── test_builtin_casters.cpp │ │ │ ├── test_builtin_casters.py │ │ │ ├── test_call_policies.cpp │ │ │ ├── test_call_policies.py │ │ │ ├── test_callbacks.cpp │ │ │ ├── test_callbacks.py │ │ │ ├── test_chrono.cpp │ │ │ ├── test_chrono.py │ │ │ ├── test_class.cpp │ │ │ ├── test_class.py │ │ │ ├── test_cmake_build │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── embed.cpp │ │ │ │ ├── installed_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── main.cpp │ │ │ │ ├── subdirectory_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ └── test.py │ │ │ ├── test_constants_and_functions.cpp │ │ │ ├── test_constants_and_functions.py │ │ │ ├── test_copy_move.cpp │ │ │ ├── test_copy_move.py │ │ │ ├── test_docstring_options.cpp │ │ │ ├── test_docstring_options.py │ │ │ ├── test_eigen.cpp │ │ │ ├── test_eigen.py │ │ │ ├── test_embed │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── catch.cpp │ │ │ │ ├── external_module.cpp │ │ │ │ ├── test_interpreter.cpp │ │ │ │ └── test_interpreter.py │ │ │ ├── test_enum.cpp │ │ │ ├── test_enum.py │ │ │ ├── test_eval.cpp │ │ │ ├── test_eval.py │ │ │ ├── test_eval_call.py │ │ │ ├── test_exceptions.cpp │ │ │ ├── test_exceptions.py │ │ │ ├── test_factory_constructors.cpp │ │ │ ├── test_factory_constructors.py │ │ │ ├── test_gil_scoped.cpp │ │ │ ├── test_gil_scoped.py │ │ │ ├── test_iostream.cpp │ │ │ ├── test_iostream.py │ │ │ ├── test_kwargs_and_defaults.cpp │ │ │ ├── test_kwargs_and_defaults.py │ │ │ ├── test_local_bindings.cpp │ │ │ ├── test_local_bindings.py │ │ │ ├── test_methods_and_attributes.cpp │ │ │ ├── test_methods_and_attributes.py │ │ │ ├── test_modules.cpp │ │ │ ├── test_modules.py │ │ │ ├── test_multiple_inheritance.cpp │ │ │ ├── test_multiple_inheritance.py │ │ │ ├── test_numpy_array.cpp │ │ │ ├── test_numpy_array.py │ │ │ ├── test_numpy_dtypes.cpp │ │ │ ├── test_numpy_dtypes.py │ │ │ ├── test_numpy_vectorize.cpp │ │ │ ├── test_numpy_vectorize.py │ │ │ ├── test_opaque_types.cpp │ │ │ ├── test_opaque_types.py │ │ │ ├── test_operator_overloading.cpp │ │ │ ├── test_operator_overloading.py │ │ │ ├── test_pickling.cpp │ │ │ ├── test_pickling.py │ │ │ ├── test_pytypes.cpp │ │ │ ├── test_pytypes.py │ │ │ ├── test_sequences_and_iterators.cpp │ │ │ ├── test_sequences_and_iterators.py │ │ │ ├── test_smart_ptr.cpp │ │ │ ├── test_smart_ptr.py │ │ │ ├── test_stl.cpp │ │ │ ├── test_stl.py │ │ │ ├── test_stl_binders.cpp │ │ │ ├── test_stl_binders.py │ │ │ ├── test_tagbased_polymorphic.cpp │ │ │ ├── test_tagbased_polymorphic.py │ │ │ ├── test_union.cpp │ │ │ ├── test_union.py │ │ │ ├── test_virtual_functions.cpp │ │ │ └── test_virtual_functions.py │ │ │ └── tools │ │ │ ├── FindCatch.cmake │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindPythonLibsNew.cmake │ │ │ ├── check-style.sh │ │ │ ├── libsize.py │ │ │ ├── mkdoc.py │ │ │ ├── pybind11Config.cmake.in │ │ │ └── pybind11Tools.cmake │ └── windows │ │ ├── libh264decoder │ │ ├── libh264decoder-0.0.1-cp36-cp36m-win_amd64.whl │ │ ├── libh264decoder-0.0.1-cp37-cp37m-win_amd64.whl │ │ ├── libh264decoder-0.0.1-cp38-cp38-win_amd64.whl │ │ └── libh264decoder-0.0.1.tar.gz │ │ └── opus_decoder │ │ ├── opus_decoder-0.0.1-cp36-cp36m-win_amd64.whl │ │ ├── opus_decoder-0.0.1-cp37-cp37m-win_amd64.whl │ │ ├── opus_decoder-0.0.1-cp38-cp38-win_amd64.whl │ │ └── opus_decoder-0.0.1.tar.gz │ └── python_stream_liveview │ ├── README.md │ └── liveview.py ├── lib └── libmedia_codec │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── cmake │ └── FindOpus.cmake │ ├── pybind11 │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE.md │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── docs │ │ ├── Doxyfile │ │ ├── Makefile │ │ ├── _static │ │ │ └── theme_overrides.css │ │ ├── advanced │ │ │ ├── cast │ │ │ │ ├── chrono.rst │ │ │ │ ├── custom.rst │ │ │ │ ├── eigen.rst │ │ │ │ ├── functional.rst │ │ │ │ ├── index.rst │ │ │ │ ├── overview.rst │ │ │ │ ├── stl.rst │ │ │ │ └── strings.rst │ │ │ ├── classes.rst │ │ │ ├── embedding.rst │ │ │ ├── exceptions.rst │ │ │ ├── functions.rst │ │ │ ├── misc.rst │ │ │ ├── pycpp │ │ │ │ ├── index.rst │ │ │ │ ├── numpy.rst │ │ │ │ ├── object.rst │ │ │ │ └── utilities.rst │ │ │ └── smart_ptrs.rst │ │ ├── basics.rst │ │ ├── benchmark.py │ │ ├── benchmark.rst │ │ ├── changelog.rst │ │ ├── classes.rst │ │ ├── compiling.rst │ │ ├── conf.py │ │ ├── faq.rst │ │ ├── index.rst │ │ ├── intro.rst │ │ ├── limitations.rst │ │ ├── pybind11-logo.png │ │ ├── pybind11_vs_boost_python1.png │ │ ├── pybind11_vs_boost_python1.svg │ │ ├── pybind11_vs_boost_python2.png │ │ ├── pybind11_vs_boost_python2.svg │ │ ├── reference.rst │ │ ├── release.rst │ │ ├── requirements.txt │ │ └── upgrade.rst │ ├── include │ │ └── pybind11 │ │ │ ├── attr.h │ │ │ ├── buffer_info.h │ │ │ ├── cast.h │ │ │ ├── chrono.h │ │ │ ├── common.h │ │ │ ├── complex.h │ │ │ ├── detail │ │ │ ├── class.h │ │ │ ├── common.h │ │ │ ├── descr.h │ │ │ ├── init.h │ │ │ ├── internals.h │ │ │ └── typeid.h │ │ │ ├── eigen.h │ │ │ ├── embed.h │ │ │ ├── eval.h │ │ │ ├── functional.h │ │ │ ├── iostream.h │ │ │ ├── numpy.h │ │ │ ├── operators.h │ │ │ ├── options.h │ │ │ ├── pybind11.h │ │ │ ├── pytypes.h │ │ │ ├── stl.h │ │ │ └── stl_bind.h │ ├── pybind11 │ │ ├── __init__.py │ │ ├── __main__.py │ │ └── _version.py │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── conftest.py │ │ ├── constructor_stats.h │ │ ├── cross_module_gil_utils.cpp │ │ ├── local_bindings.h │ │ ├── object.h │ │ ├── pybind11_cross_module_tests.cpp │ │ ├── pybind11_tests.cpp │ │ ├── pybind11_tests.h │ │ ├── pytest.ini │ │ ├── test_async.cpp │ │ ├── test_async.py │ │ ├── test_buffers.cpp │ │ ├── test_buffers.py │ │ ├── test_builtin_casters.cpp │ │ ├── test_builtin_casters.py │ │ ├── test_call_policies.cpp │ │ ├── test_call_policies.py │ │ ├── test_callbacks.cpp │ │ ├── test_callbacks.py │ │ ├── test_chrono.cpp │ │ ├── test_chrono.py │ │ ├── test_class.cpp │ │ ├── test_class.py │ │ ├── test_cmake_build │ │ │ ├── CMakeLists.txt │ │ │ ├── embed.cpp │ │ │ ├── installed_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_target │ │ │ │ └── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── subdirectory_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_target │ │ │ │ └── CMakeLists.txt │ │ │ └── test.py │ │ ├── test_constants_and_functions.cpp │ │ ├── test_constants_and_functions.py │ │ ├── test_copy_move.cpp │ │ ├── test_copy_move.py │ │ ├── test_docstring_options.cpp │ │ ├── test_docstring_options.py │ │ ├── test_eigen.cpp │ │ ├── test_eigen.py │ │ ├── test_embed │ │ │ ├── CMakeLists.txt │ │ │ ├── catch.cpp │ │ │ ├── external_module.cpp │ │ │ ├── test_interpreter.cpp │ │ │ └── test_interpreter.py │ │ ├── test_enum.cpp │ │ ├── test_enum.py │ │ ├── test_eval.cpp │ │ ├── test_eval.py │ │ ├── test_eval_call.py │ │ ├── test_exceptions.cpp │ │ ├── test_exceptions.py │ │ ├── test_factory_constructors.cpp │ │ ├── test_factory_constructors.py │ │ ├── test_gil_scoped.cpp │ │ ├── test_gil_scoped.py │ │ ├── test_iostream.cpp │ │ ├── test_iostream.py │ │ ├── test_kwargs_and_defaults.cpp │ │ ├── test_kwargs_and_defaults.py │ │ ├── test_local_bindings.cpp │ │ ├── test_local_bindings.py │ │ ├── test_methods_and_attributes.cpp │ │ ├── test_methods_and_attributes.py │ │ ├── test_modules.cpp │ │ ├── test_modules.py │ │ ├── test_multiple_inheritance.cpp │ │ ├── test_multiple_inheritance.py │ │ ├── test_numpy_array.cpp │ │ ├── test_numpy_array.py │ │ ├── test_numpy_dtypes.cpp │ │ ├── test_numpy_dtypes.py │ │ ├── test_numpy_vectorize.cpp │ │ ├── test_numpy_vectorize.py │ │ ├── test_opaque_types.cpp │ │ ├── test_opaque_types.py │ │ ├── test_operator_overloading.cpp │ │ ├── test_operator_overloading.py │ │ ├── test_pickling.cpp │ │ ├── test_pickling.py │ │ ├── test_pytypes.cpp │ │ ├── test_pytypes.py │ │ ├── test_sequences_and_iterators.cpp │ │ ├── test_sequences_and_iterators.py │ │ ├── test_smart_ptr.cpp │ │ ├── test_smart_ptr.py │ │ ├── test_stl.cpp │ │ ├── test_stl.py │ │ ├── test_stl_binders.cpp │ │ ├── test_stl_binders.py │ │ ├── test_tagbased_polymorphic.cpp │ │ ├── test_tagbased_polymorphic.py │ │ ├── test_union.cpp │ │ ├── test_union.py │ │ ├── test_virtual_functions.cpp │ │ └── test_virtual_functions.py │ └── tools │ │ ├── FindCatch.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindPythonLibsNew.cmake │ │ ├── check-style.sh │ │ ├── libsize.py │ │ ├── mkdoc.py │ │ ├── pybind11Config.cmake.in │ │ └── pybind11Tools.cmake │ ├── pyproject.toml │ ├── script │ ├── build.bat │ └── build.sh │ ├── setup.py │ └── src │ ├── ffmpeg-4.2.2-win64-dev │ ├── LICENSE.txt │ ├── README.txt │ ├── examples │ │ ├── Makefile │ │ ├── README │ │ ├── avio_dir_cmd.c │ │ ├── avio_reading.c │ │ ├── decode_audio.c │ │ ├── decode_video.c │ │ ├── demuxing_decoding.c │ │ ├── encode_audio.c │ │ ├── encode_video.c │ │ ├── extract_mvs.c │ │ ├── filter_audio.c │ │ ├── filtering_audio.c │ │ ├── filtering_video.c │ │ ├── http_multiclient.c │ │ ├── hw_decode.c │ │ ├── metadata.c │ │ ├── muxing.c │ │ ├── qsvdec.c │ │ ├── remuxing.c │ │ ├── resampling_audio.c │ │ ├── scaling_video.c │ │ ├── transcode_aac.c │ │ ├── transcoding.c │ │ ├── vaapi_encode.c │ │ └── vaapi_transcode.c │ ├── include │ │ ├── libavcodec │ │ │ ├── ac3_parser.h │ │ │ ├── adts_parser.h │ │ │ ├── avcodec.h │ │ │ ├── avdct.h │ │ │ ├── avfft.h │ │ │ ├── d3d11va.h │ │ │ ├── dirac.h │ │ │ ├── dv_profile.h │ │ │ ├── dxva2.h │ │ │ ├── jni.h │ │ │ ├── mediacodec.h │ │ │ ├── qsv.h │ │ │ ├── vaapi.h │ │ │ ├── vdpau.h │ │ │ ├── version.h │ │ │ ├── videotoolbox.h │ │ │ ├── vorbis_parser.h │ │ │ └── xvmc.h │ │ ├── libavdevice │ │ │ ├── avdevice.h │ │ │ └── version.h │ │ ├── libavfilter │ │ │ ├── avfilter.h │ │ │ ├── buffersink.h │ │ │ ├── buffersrc.h │ │ │ └── version.h │ │ ├── libavformat │ │ │ ├── avformat.h │ │ │ ├── avio.h │ │ │ └── version.h │ │ ├── libavutil │ │ │ ├── adler32.h │ │ │ ├── aes.h │ │ │ ├── aes_ctr.h │ │ │ ├── attributes.h │ │ │ ├── audio_fifo.h │ │ │ ├── avassert.h │ │ │ ├── avconfig.h │ │ │ ├── avstring.h │ │ │ ├── avutil.h │ │ │ ├── base64.h │ │ │ ├── blowfish.h │ │ │ ├── bprint.h │ │ │ ├── bswap.h │ │ │ ├── buffer.h │ │ │ ├── camellia.h │ │ │ ├── cast5.h │ │ │ ├── channel_layout.h │ │ │ ├── common.h │ │ │ ├── cpu.h │ │ │ ├── crc.h │ │ │ ├── des.h │ │ │ ├── dict.h │ │ │ ├── display.h │ │ │ ├── downmix_info.h │ │ │ ├── encryption_info.h │ │ │ ├── error.h │ │ │ ├── eval.h │ │ │ ├── ffversion.h │ │ │ ├── fifo.h │ │ │ ├── file.h │ │ │ ├── frame.h │ │ │ ├── hash.h │ │ │ ├── hdr_dynamic_metadata.h │ │ │ ├── hmac.h │ │ │ ├── hwcontext.h │ │ │ ├── hwcontext_cuda.h │ │ │ ├── hwcontext_d3d11va.h │ │ │ ├── hwcontext_drm.h │ │ │ ├── hwcontext_dxva2.h │ │ │ ├── hwcontext_mediacodec.h │ │ │ ├── hwcontext_qsv.h │ │ │ ├── hwcontext_vaapi.h │ │ │ ├── hwcontext_vdpau.h │ │ │ ├── hwcontext_videotoolbox.h │ │ │ ├── imgutils.h │ │ │ ├── intfloat.h │ │ │ ├── intreadwrite.h │ │ │ ├── lfg.h │ │ │ ├── log.h │ │ │ ├── lzo.h │ │ │ ├── macros.h │ │ │ ├── mastering_display_metadata.h │ │ │ ├── mathematics.h │ │ │ ├── md5.h │ │ │ ├── mem.h │ │ │ ├── motion_vector.h │ │ │ ├── murmur3.h │ │ │ ├── opt.h │ │ │ ├── parseutils.h │ │ │ ├── pixdesc.h │ │ │ ├── pixelutils.h │ │ │ ├── pixfmt.h │ │ │ ├── random_seed.h │ │ │ ├── rational.h │ │ │ ├── rc4.h │ │ │ ├── replaygain.h │ │ │ ├── ripemd.h │ │ │ ├── samplefmt.h │ │ │ ├── sha.h │ │ │ ├── sha512.h │ │ │ ├── spherical.h │ │ │ ├── stereo3d.h │ │ │ ├── tea.h │ │ │ ├── threadmessage.h │ │ │ ├── time.h │ │ │ ├── timecode.h │ │ │ ├── timestamp.h │ │ │ ├── tree.h │ │ │ ├── twofish.h │ │ │ ├── tx.h │ │ │ ├── version.h │ │ │ └── xtea.h │ │ ├── libswresample │ │ │ ├── swresample.h │ │ │ └── version.h │ │ └── libswscale │ │ │ ├── swscale.h │ │ │ └── version.h │ └── lib │ │ ├── avcodec-58.def │ │ ├── avdevice-58.def │ │ ├── avfilter-7.def │ │ ├── avformat-58.def │ │ ├── avutil-56.def │ │ ├── libavcodec.dll.a │ │ ├── libavdevice.dll.a │ │ ├── libavfilter.dll.a │ │ ├── libavformat.dll.a │ │ ├── libavutil.dll.a │ │ ├── libswresample.dll.a │ │ ├── libswscale.dll.a │ │ ├── swresample-3.def │ │ └── swscale-5.def │ ├── media_codec.cpp │ ├── media_codec.h │ └── opus-share │ ├── include │ └── opus │ │ ├── opus.h │ │ ├── opus_defines.h │ │ └── opus_types.h │ └── lib │ ├── opus.dll.manifest │ └── opus.exp ├── lib_install.bat ├── requirements.txt ├── sdk install on Raspberry Pi.7z ├── setup.py ├── setup_with_lib.py ├── src ├── multi_robomaster │ ├── __init__.py │ ├── multi_group.py │ ├── multi_module.py │ ├── multi_robot.py │ └── tool.py └── robomaster │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── action.cpython-37.pyc │ ├── ai.cpython-37.pyc │ ├── ai_module.cpython-37.pyc │ ├── algo.cpython-37.pyc │ ├── armor.cpython-37.pyc │ ├── battery.cpython-37.pyc │ ├── blaster.cpython-37.pyc │ ├── camera.cpython-37.pyc │ ├── chassis.cpython-37.pyc │ ├── client.cpython-37.pyc │ ├── config.cpython-37.pyc │ ├── conn.cpython-37.pyc │ ├── dds.cpython-37.pyc │ ├── event.cpython-37.pyc │ ├── exceptions.cpython-37.pyc │ ├── flight.cpython-37.pyc │ ├── gimbal.cpython-37.pyc │ ├── gripper.cpython-37.pyc │ ├── led.cpython-37.pyc │ ├── media.cpython-37.pyc │ ├── module.cpython-37.pyc │ ├── protocol.cpython-37.pyc │ ├── robot.cpython-37.pyc │ ├── robotic_arm.cpython-37.pyc │ ├── sensor.cpython-37.pyc │ ├── servo.cpython-37.pyc │ ├── uart.cpython-37.pyc │ ├── util.cpython-37.pyc │ ├── version.cpython-37.pyc │ └── vision.cpython-37.pyc │ ├── action.py │ ├── ai_module.py │ ├── algo.py │ ├── armor.py │ ├── battery.py │ ├── blaster.py │ ├── camera.py │ ├── chassis.py │ ├── client.py │ ├── config.py │ ├── conn.py │ ├── dds.py │ ├── event.py │ ├── exceptions.py │ ├── flight.py │ ├── gimbal.py │ ├── gripper.py │ ├── led.py │ ├── media.py │ ├── module.py │ ├── protocol.py │ ├── robot.py │ ├── robotic_arm.py │ ├── sensor.py │ ├── servo.py │ ├── uart.py │ ├── util.py │ ├── version.py │ └── vision.py └── visualcppbuildtools_full.exe /.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | dist 3 | 4 | src/robomaster.egg-info 5 | __pycache__ 6 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # RoboMaster-SDK 2 | 3 | [![Gitter](https://badges.gitter.im/RoboMaster-SDK/community.svg)](https://gitter.im/RoboMaster-SDK/community?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge) 4 | 5 | 6 | 7 | Learn more about the RoboMaster Education Robot: https://www.dji.com/robomaster-ep 8 | 9 | RoboMaster Developer Guide: https://robomaster-dev.rtfd.io/ 10 | 11 | Gitee link for RoboMaster SDK download: https://gitee.com/xitinglin/RoboMaster-SDK 12 | -------------------------------------------------------------------------------- /VisualCppRedist_AIO_20200707.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/VisualCppRedist_AIO_20200707.exe -------------------------------------------------------------------------------- /docs/Makefile: -------------------------------------------------------------------------------- 1 | # Minimal makefile for Sphinx documentation 2 | # 3 | 4 | # You can set these variables from the command line. 5 | SPHINXOPTS = 6 | SPHINXBUILD = sphinx-build 7 | SOURCEDIR = source 8 | BUILDDIR = build 9 | 10 | # Put it first so that "make" without argument is like "make help". 11 | help: 12 | @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) 13 | 14 | .PHONY: help Makefile 15 | 16 | # Catch-all target: route all unknown targets to Sphinx using the new 17 | # "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). 18 | %: Makefile 19 | @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) -------------------------------------------------------------------------------- /docs/make.bat: -------------------------------------------------------------------------------- 1 | @ECHO OFF 2 | 3 | pushd %~dp0 4 | 5 | REM Command file for Sphinx documentation 6 | 7 | if "%SPHINXBUILD%" == "" ( 8 | set SPHINXBUILD=sphinx-build 9 | ) 10 | set SOURCEDIR=source 11 | set BUILDDIR=build 12 | 13 | if "%1" == "" goto help 14 | 15 | %SPHINXBUILD% >NUL 2>NUL 16 | if errorlevel 9009 ( 17 | echo. 18 | echo.The 'sphinx-build' command was not found. Make sure you have Sphinx 19 | echo.installed, then set the SPHINXBUILD environment variable to point 20 | echo.to the full path of the 'sphinx-build' executable. Alternatively you 21 | echo.may add the Sphinx directory to PATH. 22 | echo. 23 | echo.If you don't have Sphinx installed, grab it from 24 | echo.http://sphinx-doc.org/ 25 | exit /b 1 26 | ) 27 | 28 | %SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% 29 | goto end 30 | 31 | :help 32 | %SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% 33 | 34 | :end 35 | popd 36 | -------------------------------------------------------------------------------- /docs/source/extension_module/robotic_arm_and_gripper.rst: -------------------------------------------------------------------------------- 1 | ================ 2 | 机械臂与机械爪 3 | ================ 4 | 5 | 介绍 6 | ---- 7 | 8 | 机械臂支持 FPV 精准遥控，机械爪配合机械臂使用，支持夹力控制，用户可在 App 中通过第一人称视角操控机械臂和机械爪完成任务。 9 | 10 | .. image:: ../images/arm&gripper.png 11 | :scale: 30% 12 | 13 | 使用说明 14 | -------- 15 | 16 | 用户可以控制机械臂的移动范围、机械爪的开合距离。其中，机械臂的水平移动范围为 0-0.22 米，垂直移动范围为 0-0.15 米；机械爪的开合距离约为 10 厘米。 17 | 18 | .. warning:: 19 | 1.当机械臂或机械爪处于工作状态时，请尽量避免对其施加外力。 20 | 21 | 2.请勿碰撞或损伤机械臂或机械爪，避免导致性能下降或舵机运行异常。 22 | 23 | 3.避免因用身体部位接触机械臂或机械爪旋转或尖锐部分而导致受伤。 24 | 25 | 4.及时清理水滴、水晶弹残渣等异物，避免腐蚀结构表面。 26 | 27 | 机械爪PWM 接口说明: 28 | ^^^^^^^^^^^^^^^^^^^ 29 | 30 | 机械爪支持力矩控制模式 31 | 32 | .. image:: ../images/arm_pwm.png 33 | :scale: 20% 34 | 35 | +----------+------------+ 36 | | 序号 | 引脚 | 37 | +==========+============+ 38 | | 1 | 485A/PWM | 39 | +----------+------------+ 40 | | 2 | 485B | 41 | +----------+------------+ 42 | | 3 | VCC-12V | 43 | +----------+------------+ 44 | | 4 | GND | 45 | +----------+------------+ 46 | 47 | PWM 信号为50Hz，占空比为2.5%~12.5%。 48 | 49 | 1. 2.5%~7.5% 占空比对应闭合力度[ 最大，0]; 50 | 51 | 2. 7.5%~12.5% 占空比对应开合力度[0，最大]。 52 | 53 | Python API 54 | -------------------------- 55 | 56 | 请参考 :doc:`机械臂<../python/robotic_arm>` 和 :doc:`机械爪<../python/gripper>` 57 | -------------------------------------------------------------------------------- /docs/source/extension_module/sensor_adapter.rst: -------------------------------------------------------------------------------- 1 | ================ 2 | 传感器转接模块 3 | ================ 4 | 5 | 介绍 6 | ---------- 7 | 8 | 传感器转接模块是为了方便用户将温度、压力、测距等传感器接入 RoboMaster EP而设计的，可在Scratch 编程环境中获取传感器数据信息，每个模块均有两个传感器接口，两个接口功能相同。 9 | 10 | .. image:: ../images/pinboard.png 11 | :scale: 30% 12 | 13 | 引脚说明 14 | ---------- 15 | 16 | +----------+------------+------------------------------+ 17 | | 端口 | 引脚 | 功能 | 18 | +==========+============+==============================+ 19 | | port1 | VCC | 电源正极，输出电压3.3V | 20 | + +------------+------------------------------+ 21 | | | GND | 电源地 | 22 | + +------------+------------------------------+ 23 | | | I/O | 电平输入，输入范围0~3.3V | 24 | + +------------+------------------------------+ 25 | | | AD | 模拟电压输入，输入范围0~3.3V | 26 | +----------+------------+------------------------------+ 27 | | port2 | 同Port1 | 同port1 | 28 | +----------+------------+------------------------------+ 29 | 30 | Python API 31 | -------------------------- 32 | 33 | 请参考 :doc:`传感器转接模块<../python/sensor_adapter>` 34 | -------------------------------------------------------------------------------- /docs/source/images/6EPlocate.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/6EPlocate.png -------------------------------------------------------------------------------- /docs/source/images/arduino.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/arduino.jpg -------------------------------------------------------------------------------- /docs/source/images/arm&gripper.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/arm&gripper.png -------------------------------------------------------------------------------- /docs/source/images/arm_pwm.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/arm_pwm.png -------------------------------------------------------------------------------- /docs/source/images/cmd1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/cmd1.png -------------------------------------------------------------------------------- /docs/source/images/connect.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/connect.png -------------------------------------------------------------------------------- /docs/source/images/direct_connection_change.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/direct_connection_change.png -------------------------------------------------------------------------------- /docs/source/images/download_sdk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/download_sdk.png -------------------------------------------------------------------------------- /docs/source/images/engineer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/engineer.png -------------------------------------------------------------------------------- /docs/source/images/form_control.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/form_control.gif -------------------------------------------------------------------------------- /docs/source/images/infantry.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/infantry.png -------------------------------------------------------------------------------- /docs/source/images/ip.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/ip.png -------------------------------------------------------------------------------- /docs/source/images/ip_add.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/ip_add.png -------------------------------------------------------------------------------- /docs/source/images/libmedia_err.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/libmedia_err.png -------------------------------------------------------------------------------- /docs/source/images/log_file.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/log_file.png -------------------------------------------------------------------------------- /docs/source/images/microbit.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/microbit.png -------------------------------------------------------------------------------- /docs/source/images/nano.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/nano.png -------------------------------------------------------------------------------- /docs/source/images/neti_err.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/neti_err.jpg -------------------------------------------------------------------------------- /docs/source/images/networking_connection_change.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/networking_connection_change.png -------------------------------------------------------------------------------- /docs/source/images/networking_connection_key.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/networking_connection_key.png -------------------------------------------------------------------------------- /docs/source/images/pinboard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/pinboard.png -------------------------------------------------------------------------------- /docs/source/images/pip_install_error.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/pip_install_error.jpg -------------------------------------------------------------------------------- /docs/source/images/python_env.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/python_env.png -------------------------------------------------------------------------------- /docs/source/images/python_version.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/python_version.png -------------------------------------------------------------------------------- /docs/source/images/qrcode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/qrcode.png -------------------------------------------------------------------------------- /docs/source/images/raspberry.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/raspberry.png -------------------------------------------------------------------------------- /docs/source/images/robomaster.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/robomaster.jpg -------------------------------------------------------------------------------- /docs/source/images/servo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/servo.png -------------------------------------------------------------------------------- /docs/source/images/sn_num.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/sn_num.jpg -------------------------------------------------------------------------------- /docs/source/images/tello_power.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/tello_power.png -------------------------------------------------------------------------------- /docs/source/images/third_part.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/third_part.jpg -------------------------------------------------------------------------------- /docs/source/images/third_part.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/third_part.png -------------------------------------------------------------------------------- /docs/source/images/tof.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/tof.png -------------------------------------------------------------------------------- /docs/source/images/tof_module.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/tof_module.png -------------------------------------------------------------------------------- /docs/source/images/uart.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/uart.png -------------------------------------------------------------------------------- /docs/source/images/uart_pc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/uart_pc.png -------------------------------------------------------------------------------- /docs/source/images/uart_serial.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/uart_serial.png -------------------------------------------------------------------------------- /docs/source/images/uart_serial_sdk.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/uart_serial_sdk.png -------------------------------------------------------------------------------- /docs/source/images/ubuntu_python_setup1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/ubuntu_python_setup1.png -------------------------------------------------------------------------------- /docs/source/images/ubuntu_python_setup2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/ubuntu_python_setup2.png -------------------------------------------------------------------------------- /docs/source/images/ubuntu_python_setup3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/ubuntu_python_setup3.png -------------------------------------------------------------------------------- /docs/source/images/vc2014.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/vc2014.PNG -------------------------------------------------------------------------------- /docs/source/images/vc_exe.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/vc_exe.png -------------------------------------------------------------------------------- /docs/source/images/vs_build_tool.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/vs_build_tool.png -------------------------------------------------------------------------------- /docs/source/images/wifi_direct.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/wifi_direct.png -------------------------------------------------------------------------------- /docs/source/images/wifi_sta.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/wifi_sta.png -------------------------------------------------------------------------------- /docs/source/images/win_python_setup1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/win_python_setup1.png -------------------------------------------------------------------------------- /docs/source/images/win_python_setup2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/win_python_setup2.png -------------------------------------------------------------------------------- /docs/source/images/zip.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/docs/source/images/zip.png -------------------------------------------------------------------------------- /docs/source/python/apis.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | Python API 3 | =================== 4 | 5 | .. toctree:: 6 | :maxdepth: 1 7 | :caption: 机器人 8 | 9 | robot.rst 10 | 11 | .. toctree:: 12 | :maxdepth: 1 13 | :caption: 多机通信 14 | 15 | multi_comm.rst 16 | 17 | .. toctree:: 18 | :maxdepth: 1 19 | :caption: 自定义 UI 系统 20 | 21 | custom_ui.rst 22 | 23 | .. toctree:: 24 | :maxdepth: 1 25 | :caption: 发射器 26 | 27 | ir_blaster.rst 28 | 29 | .. toctree:: 30 | :maxdepth: 1 31 | :caption: 机械爪 32 | 33 | gripper.rst 34 | 35 | .. toctree:: 36 | :maxdepth: 1 37 | :caption: 机械臂 38 | 39 | robotic_arm.rst 40 | 41 | .. toctree:: 42 | :maxdepth: 1 43 | :caption: 舵机 44 | 45 | servo.rst 46 | 47 | .. toctree:: 48 | :maxdepth: 1 49 | :caption: 智能 50 | 51 | vision.rst 52 | 53 | .. toctree:: 54 | :maxdepth: 1 55 | :caption: 装甲板 56 | 57 | armor.rst 58 | 59 | .. toctree:: 60 | :maxdepth: 1 61 | :caption: 红外深度传感器 62 | 63 | ir_distance_sensor.rst 64 | 65 | .. toctree:: 66 | :maxdepth: 1 67 | :caption: 传感器转接模块 68 | 69 | sensor_adapter.rst 70 | 71 | .. toctree:: 72 | :maxdepth: 1 73 | :caption: UART 74 | 75 | uart.rst 76 | -------------------------------------------------------------------------------- /docs/source/python/armor.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | 装甲板 3 | =================== 4 | 5 | .. py:function:: def ir_hit_detection_event(msg): 6 | 7 | :描述: 当检测到机器人受到红外光束攻击时，运行函数内程序 8 | 9 | :param msg: 函数内部的消息参数 10 | 11 | :return: 无 12 | 13 | :示例: 14 | .. code-block:: python 15 | :linenos: 16 | 17 | #当检测到机器人受到红外光束攻击时，运行函数内程序 18 | 19 | def ir_hit_detection_event(msg): 20 | pass 21 | 22 | .. function:: armor_ctrl.cond_wait(condition_enum) 23 | 24 | :描述: 等待机器人受到红外光束攻击时，执行下一条指令 25 | 26 | :param condition_enum: 事件类型，``rm_define.cond_ir_hit_detection`` 表示机器人受到红外光束攻击 27 | 28 | :return: 无 29 | 30 | :示例: ``armor_ctrl.cond_wait(rm_define.cond_ir_hit_detection)`` 31 | 32 | :示例说明: 等待机器人受到红外光束攻击时，执行下一条指令 33 | 34 | .. function:: armor_ctrl.check_condition(condition_enum) 35 | 36 | :描述: 判断机器人是否受到红外光束攻击 37 | 38 | :param condition_enum: 事件类型，``rm_define.cond_ir_hit_detection`` 表示机器人受到红外光束攻击 39 | 40 | :return: 机器人是否受到红外光束攻击，受到攻击时返回真，否则返回假。 41 | :rtype: bool 42 | 43 | :示例: ``if armor_ctrl.check_condition(rm_define.cond_ir_hit_detection):`` 44 | 45 | :示例说明: 如果机器人受到红外光束攻击时，执行下一条指令 -------------------------------------------------------------------------------- /docs/source/python/code/multi_comm.py: -------------------------------------------------------------------------------- 1 | def recv_callback(msg): 2 | pass 3 | 4 | multi_comm_ctrl.register_recv_callback(recv_callback) -------------------------------------------------------------------------------- /docs/source/python/code/stage.py: -------------------------------------------------------------------------------- 1 | button = Button() 2 | stage.add_widget(my_button) 3 | stage.add_widget(my_button) -------------------------------------------------------------------------------- /docs/source/python/custom_ui.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | 自定义 UI 系统 3 | =================== 4 | 5 | .. toctree:: 6 | :maxdepth: 1 7 | :caption: Common 8 | 9 | custom_ui_doc/Common.rst 10 | 11 | .. toctree:: 12 | :maxdepth: 1 13 | :caption: Stage 14 | 15 | custom_ui_doc/Stage.rst 16 | 17 | .. toctree:: 18 | :maxdepth: 1 19 | :caption: Button 20 | 21 | custom_ui_doc/Button.rst 22 | 23 | .. toctree:: 24 | :maxdepth: 1 25 | :caption: Toggle 26 | 27 | custom_ui_doc/Toggle.rst 28 | 29 | .. toctree:: 30 | :maxdepth: 1 31 | :caption: Text 32 | 33 | custom_ui_doc/Text.rst 34 | 35 | .. toctree:: 36 | :maxdepth: 1 37 | :caption: InputField 38 | 39 | custom_ui_doc/Input_field.rst 40 | 41 | .. toctree:: 42 | :maxdepth: 1 43 | :caption: Dropdown 44 | 45 | custom_ui_doc/Dropdown.rst 46 | 47 | .. hint:: 功能说明请参考 :doc:`用户自定义 UI 系统 <./custom_ui_info>` -------------------------------------------------------------------------------- /docs/source/python/custom_ui_doc/Stage.rst: -------------------------------------------------------------------------------- 1 | ================= 2 | Stage 3 | ================= 4 | 5 | 系统初始化时会自动创建一个 Stage 类的对象 stage ，直接使用即可，不需要用户自己创建。 6 | 7 | .. function:: stage.add_widget(widget_obj) 8 | 9 | :描述: 将参数中的控件添加到 UI 界面中 10 | 11 | :param object widget_obj: 需要添加进 UI 界面的控件对象 12 | 13 | :return: 无 14 | 15 | :示例: 16 | .. code-block:: python 17 | :linenos: 18 | 19 | #创建一个 Button 对象，并将其添加进 UI 界面 20 | 21 | my_button = Button() 22 | stage.add_widget(my_button) 23 | 24 | .. function:: stage.remove_widget(widget_obj) 25 | 26 | :描述: 从 UI 界面移除参数传入的控件 27 | 28 | :param object widget_obj: 需要从 UI 界面移除的控件 29 | 30 | :return: 无 31 | 32 | :示例: ``stage.remove_widget(my_button)`` 33 | 34 | :示例说明: 从 UI 界面中移除控件 my_button -------------------------------------------------------------------------------- /docs/source/python/custom_ui_info.rst: -------------------------------------------------------------------------------- 1 | ==================== 2 | 用户自定义 UI 系统 3 | ==================== 4 | 5 | 自定义 UI 系统是用户通过自己编写的程序生成自定义的 UI 控件来拓展程序的输入和输出的一种方式。 6 | 7 | 我们编程时很重要的一部分工作是处理输入和输出，对我们的机器人来说，程序输出可以是底盘、云台、发射器等模块的动作，也可以是灯光、音效等的表现，输入的途径则有初始的变量，机器人的视觉识别、掌声识别、装甲板打击检测、手机陀螺仪等。现在我们可以通过自定义 UI 系统与生成的 UI 控件进行交互达到输入的目的，也可以将程序的处理结果通过 UI 控件来进行信息的输出。 8 | 9 | 我们可以在 RoboMaster App 中编写 Python 程序，调用自定义 UI 系统的相关接口，来生成 UI 控件，绑定控件的事件回调。在实验室中完成程序的编写和调试后，可以将程序装配成自定义技能，在单机驾驶或者多人竞技中释放出来。 10 | 11 | Python API 请参考 :doc:`自定义UI系统<./custom_ui>` -------------------------------------------------------------------------------- /docs/source/python/feature.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | Python 功能介绍 3 | =================== 4 | 5 | .. toctree:: 6 | :maxdepth: 1 7 | :caption: 多机通信功能 8 | 9 | multi_comm_info.rst 10 | 11 | .. toctree:: 12 | :maxdepth: 1 13 | :caption: 自定义UI功能 14 | 15 | custom_ui_info.rst 16 | -------------------------------------------------------------------------------- /docs/source/python/ir_blaster.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | 发射器 3 | =================== 4 | 5 | .. function:: ir_blaster_ctrl.set_fire_count(count) 6 | 7 | :描述: 设置红外光束的发射频率，即每秒射出的红外光束次数 8 | 9 | :param int color_enum: 发射频率，即每秒射出的红外光束次数，范围为[1:8] 10 | 11 | :return: 无 12 | 13 | :示例: ``ir_blaster_ctrl.set_fire_count(4)`` 14 | 15 | :示例说明: 设置红外光束的发射频率为 4 16 | 17 | .. function:: ir_blaster_ctrl.fire_once() 18 | 19 | :描述: 控制发射器只发射一次红外光束 20 | 21 | :param void: 无 22 | 23 | :return: 无 24 | 25 | :示例: ``ir_blaster_ctrl.fire_once()`` 26 | 27 | :示例说明: 控制发射器只发射一次红外光束 28 | 29 | .. function:: ir_blaster_ctrl.fire_continuous() 30 | 31 | :描述: 控制发射器持续发射红外光束 32 | 33 | :param void: 无 34 | 35 | :return: 无 36 | 37 | :示例: ``ir_blaster_ctrl.fire_continuous()`` 38 | 39 | :示例说明: 控制发射器持续发射红外光束 40 | 41 | .. function:: ir_blaster_ctrl.stop() 42 | 43 | :描述: 停止发射红外光束 44 | 45 | :param void: 无 46 | 47 | :return: 无 48 | 49 | :示例: ``ir_blaster_ctrl.stop()`` 50 | 51 | :示例说明: 停止发射红外光束 -------------------------------------------------------------------------------- /docs/source/python/multi_comm_info.rst: -------------------------------------------------------------------------------- 1 | ================ 2 | 多机通信系统 3 | ================ 4 | 5 | 多机通信系统是一种基于局域网实现多台机器人之间相互通信的功能，让用户可以进行多台机器人协同工作，实现多台机器人编队表演等功能。 6 | 7 | 使用时需要将所有目标机器人加入到同一个局域网内，并使用官方提供的Python API进行编程，来沟通机器人之间的通信机制，进一步实现具体的功能。 8 | 9 | Python API 请参考 :doc:`自定义UI系统<./multi_comm>` -------------------------------------------------------------------------------- /docs/source/python/python_api.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | Python 编程介绍 3 | =================== 4 | 5 | 介绍 6 | ------------ 7 | 8 | 本章介绍的 Python 编程指的是使用设备连接 EP 机器人后，进入 App 实验室进行 Python 编程。 9 | 10 | 在 Python 编程界面，允许玩家基于 Python 3.6.6 版本的基础语法完成 Python 编程，并可以参考官方提供的《`RoboMaster EP 编程模块手册 `_》和本网站 :doc:`Python API<../python/apis>`，调用 RoboMaster EP 提供的编程接口去编写自己的 Python 程序，同时生成的 Python 程序可被装配成自主程序或者自定义技能。 11 | 12 | RoboMaster EP 的多机通信接口让多台机器人通过 Python 编程相互通信，实现多机实时互动。 EP 支持编程自定义 UI 系统，通过 Python 编写虚拟控件，自由设计交互界面，拓展无限应用可能。 13 | 14 | 界面 15 | ------------ 16 | 为了方便代码编辑，一般会使用 PC 端的 App 进行 Python 编程。 17 | 18 | .. image:: ../images/python_env.png 19 | :align: center 20 | 21 | .. centered:: PC 端 Python 编程界面 22 | 23 | 参考文档 24 | ------------ 25 | 1. `RoboMaster EP 编程模块手册 `_ 26 | 2. :doc:`Python API<../python/apis>` 27 | -------------------------------------------------------------------------------- /docs/source/python/robot.rst: -------------------------------------------------------------------------------- 1 | ================ 2 | 机器人 3 | ================ 4 | 5 | .. function:: robot_ctrl.get_battery_percentage() 6 | 7 | :描述: 机器人电池电量获取 8 | 9 | :param void: 无 10 | 11 | :return: 电池电量百分比 (0, 100] 12 | 13 | :示例: >> ``robot_ctrl.get_battery_percentage()`` 14 | 15 | << ``10`` 16 | 17 | :示例说明: 当前机器人电量为10% -------------------------------------------------------------------------------- /docs/source/python/vision.rst: -------------------------------------------------------------------------------- 1 | =================== 2 | 智能 3 | =================== 4 | 5 | .. function:: vision_ctrl.marker_detection_color_set(color_enum) 6 | 7 | :描述: 设置视觉标签识别颜色 8 | 9 | :param color_enum: 标签颜色类型，详细见表格 :data:`color_enum` 10 | 11 | :return: 无 12 | 13 | :示例: ``vision_ctrl.marker_detection_color_set(rm_define.marker_detection_color_red)`` 14 | 15 | :示例说明: 设置视觉标签识别颜色为红色 16 | 17 | .. data:: color_enum 18 | 19 | +--------------------------------------+----+ 20 | |rm_define.marker_detection_color_red |红色| 21 | +--------------------------------------+----+ 22 | |rm_define.marker_detection_color_green|绿色| 23 | +--------------------------------------+----+ 24 | |rm_define.marker_detection_color_blue |蓝色| 25 | +--------------------------------------+----+ -------------------------------------------------------------------------------- /docs/source/python_sdk/apis.rst: -------------------------------------------------------------------------------- 1 | .. _apis: 2 | 3 | 4 | ############################ 5 | RoboMaster SDK APIs 6 | ############################ 7 | 8 | API接口列表。 9 | -------------------------------------------------------------------------------- /docs/source/python_sdk/beginner.rst: -------------------------------------------------------------------------------- 1 | .. _beginnger: 2 | 3 | #################################### 4 | RoboMaster SDK 新手入门 - 基础篇 5 | #################################### 6 | 7 | SDK 能做什么? 8 | _____________ 9 | 10 | RoboMaster SDK （以下简称 SDK）是一套面向大疆 RoboMaster 系列产品的开发工具包， 11 | 目前支持的产品包括 RoboMaster EP, RoboMaster EP Core, Tello EDU, Tello Talent 等。 12 | 通过 SDK， 用户可以实现在PC上控制机器人运动以及获取机器人传感器的相关信息 （待补充？？？） 13 | 14 | 第一个SDK程序 15 | _____________ 16 | 17 | 接下来本文档将从如何获取 RoboMaster SDK（以下简称 SDK）的版本号来编写第一个 SDK 程序 18 | 19 | - 首先从安装的的 `robomaster` 包中导入自己需要的模块，这里我们导入包含获取SDK版本信息的 `version` 模块:: 20 | 21 | from robomaster import version 22 | 23 | - 接下来通过 `version` 模块中的 `__version__` 属性可以获得 SDK 的版本号，并将其打印:: 24 | 25 | sdk_version = version.__version__ 26 | print("sdk version:", sdk_version) 27 | 28 | - 运行程序，可以看到打印的结果:: 29 | 30 | sdk version: 0.1.1.29 31 | 32 | 示例文档中提供了获取 SDK 版本号的例程 :file:`/examples/00_general/01_sdk_version.py` 33 | 34 | .. literalinclude:: ./../../../examples/00_general/01_sdk_version.py 35 | :language: python 36 | :linenos: 37 | :lines: 17- 38 | -------------------------------------------------------------------------------- /docs/source/python_sdk/downloads.rst: -------------------------------------------------------------------------------- 1 | .. _downloads: 2 | 3 | ############################ 4 | RoboMaster SDK 下载源码 5 | ############################ 6 | 7 | 可以在官方GitHub上下载SDK的示例代码。 8 | 9 | Clone, fork, or report issues on the `GitHub RoboMaster SDK repository `_. 10 | 11 | 也可以从的Gitee（国内源，下载更快）上下载SDK的示例代码。 12 | 13 | Clone, fork, or report issues on the `Gitee RoboMaster SDK repository `_. 14 | -------------------------------------------------------------------------------- /docs/source/python_sdk/log.rst: -------------------------------------------------------------------------------- 1 | .. _log: 2 | 3 | 4 | ################################## 5 | RoboMaster SDK 如何记录日志 6 | ################################## 7 | 8 | 配置日志等级 9 | ____________ 10 | 11 | RoboMaster SDK 的日志等级默认为ERROR，用户可根据自己的需要进行修改。 12 | 13 | - 设置日志等级的语句为 :file:`/examples/01_robot/00_logger.py` 中该行代码:: 14 | 15 | logger.setLevel(logging.ERROR) 16 | 17 | - 用户可根据自己的需要将其修改为:: 18 | 19 | logger.setLevel(logging.WARNING) 20 | 21 | 或者:: 22 | 23 | logger.setLevel(logging.INFO) 24 | 25 | 26 | 日志文件的使用 27 | ____________________ 28 | 29 | 如果用户是使用过程中遇到问题，需要将日志写入文件中，并将日志文件提供给技术支持人员。 30 | 31 | **生成日志文件方法** 32 | 33 | - 用户需要在程序最开始添加语句:: 34 | 35 | robomaster.enable_logging_to_file() 36 | 37 | - 运行程序 38 | 39 | - SDK会自动生成对应的系统日志文件，存放路径为该程序同级目录中，日志文件命名格式为:: 40 | 41 | RoboMasterSDK_YYYYMMDDHHMMSS_log.txt 42 | 43 | - 将生成的系统日志文件发送到邮箱 `developer@dji.com`，邮件模板如下:: 44 | 45 | xxxxxxxx 46 | xxxxxxxx 47 | xxxxxxxx 48 | 49 | **示例代码** 50 | 51 | - 参考sdk代码 :file:`/examples/01_robot/00_logger.py` 目录下的例程 52 | 53 | .. literalinclude:: ./../../../examples/01_robot/00_logger.py 54 | :language: python 55 | :linenos: 56 | :lines: 16- 57 | 58 | - 运行程序后SDK会在在程序的同级目录下会自动生成系统日志文件,如下图所示 59 | 60 | .. image:: ./../images/log_file.png 61 | :scale: 100% 62 | :align: center 63 | -------------------------------------------------------------------------------- /docs/source/python_sdk/modules.rst: -------------------------------------------------------------------------------- 1 | RoboMaster SDK API 详细介绍 2 | ============================= 3 | 4 | .. toctree:: 5 | :maxdepth: 4 6 | 7 | robomaster 8 | -------------------------------------------------------------------------------- /docs/source/text_sdk/apis.rst: -------------------------------------------------------------------------------- 1 | ==================== 2 | 明文协议 3 | ==================== 4 | 5 | .. toctree:: 6 | :maxdepth: 1 7 | 8 | protocol_struct.rst 9 | 10 | .. toctree:: 11 | :maxdepth: 1 12 | 13 | protocol_api.rst 14 | 15 | .. toctree:: 16 | :maxdepth: 1 17 | 18 | data_define.rst -------------------------------------------------------------------------------- /examples/00_general/01_sdk_version.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import version 18 | 19 | if __name__ == "__main__": 20 | sdk_version = version.__version__ 21 | print("sdk version:", sdk_version) 22 | -------------------------------------------------------------------------------- /examples/01_robot/00_logger.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | robomaster.enable_logging_to_file() 23 | 24 | # 如果本地IP 自动获取不正确，手动指定本地IP地址 25 | # robomaster.config.LOCAL_IP_STR = "192.168.2.20" 26 | 27 | ep_robot = robot.Robot() 28 | 29 | # 指定连接方式为AP 直连模式 30 | ep_robot.initialize(conn_type='rndis') 31 | 32 | version = ep_robot.get_version() 33 | print("Robot version: {0}".format(version)) 34 | ep_robot.close() 35 | 36 | -------------------------------------------------------------------------------- /examples/01_robot/01_get_version.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="ap") 23 | 24 | ep_version = ep_robot.get_version() 25 | print("Robot Version: {0}".format(ep_version)) 26 | 27 | ep_robot.close() 28 | -------------------------------------------------------------------------------- /examples/01_robot/02_get_sn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="sta") 23 | 24 | SN = ep_robot.get_sn() 25 | print("Robot SN:", SN) 26 | 27 | ep_robot.close() 28 | -------------------------------------------------------------------------------- /examples/01_robot/03_play_audio.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | ep_robot.initialize(conn_type="sta") 24 | 25 | # 依次播放两个本地文件 26 | 27 | ep_robot.play_audio(filename="demo1.wav").wait_for_completed() 28 | ep_robot.play_audio(filename="demo2.wav").wait_for_completed() 29 | 30 | ep_robot.close() 31 | 32 | -------------------------------------------------------------------------------- /examples/01_robot/04_ap_conn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | # 如果本地IP 自动获取不正确，手动指定本地IP地址 23 | # robomaster.config.LOCAL_IP_STR = "192.168.2.20" 24 | ep_robot = robot.Robot() 25 | 26 | # 指定连接方式为AP 直连模式 27 | ep_robot.initialize(conn_type='ap') 28 | 29 | version = ep_robot.get_version() 30 | print("Robot version: {0}".format(version)) 31 | ep_robot.close() 32 | 33 | -------------------------------------------------------------------------------- /examples/01_robot/05_sta_conn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | # 如果本地IP 自动获取不正确，手动指定本地IP地址 23 | # robomaster.config.LOCAL_IP_STR = "192.168.1.100" 24 | ep_robot = robot.Robot() 25 | 26 | # 指定连接方式为STA组网模式 27 | ep_robot.initialize(conn_type='sta') 28 | 29 | version = ep_robot.get_version() 30 | print("Robot Version: {0}".format(version)) 31 | ep_robot.close() 32 | -------------------------------------------------------------------------------- /examples/01_robot/05_sta_conn_helper.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import conn 20 | from MyQR import myqr 21 | from PIL import Image 22 | 23 | 24 | QRCODE_NAME = "qrcode.png" 25 | 26 | if __name__ == '__main__': 27 | 28 | helper = conn.ConnectionHelper() 29 | info = helper.build_qrcode_string(ssid="RoboMaster_SDK_WIFI", password="12341234") 30 | myqr.run(words=info) 31 | time.sleep(1) 32 | img = Image.open(QRCODE_NAME) 33 | img.show() 34 | if helper.wait_for_connection(): 35 | print("Connected!") 36 | else: 37 | print("Connect failed!") 38 | -------------------------------------------------------------------------------- /examples/01_robot/05_sta_conn_sn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | from robomaster import config 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | # 指定机器人的 SN 号 24 | ep_robot.initialize(conn_type="sta", sn="3JKDH2T001ULTD") 25 | 26 | ep_version = ep_robot.get_version() 27 | print("Robot Version: {0}".format(ep_version)) 28 | 29 | ep_robot.close() 30 | -------------------------------------------------------------------------------- /examples/01_robot/06_rndis_conn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | 24 | # 指定连接方式为USB RNDIS模式 25 | ep_robot.initialize(conn_type='rndis') 26 | 27 | version = ep_robot.get_version() 28 | print("Robot version: {0}".format(version)) 29 | ep_robot.close() 30 | -------------------------------------------------------------------------------- /examples/01_robot/07_tcp_protocol.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | 24 | # 指定连接方式为STA 组网模式, 网络通讯方式 tcp 25 | ep_robot.initialize(conn_type='sta', proto_type='tcp') 26 | 27 | version = ep_robot.get_version() 28 | print("Robot Version: {0}".format(version)) 29 | ep_robot.close() 30 | 31 | -------------------------------------------------------------------------------- /examples/01_robot/08_udp_protocol.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | # 指定连接方式为AP 直连模式, 网络通讯方式 udp 24 | ep_robot.initialize(conn_type='ap', proto_type='udp') 25 | 26 | version = ep_robot.get_version() 27 | print("Robot Version: {0}".format(version)) 28 | ep_robot.close() 29 | -------------------------------------------------------------------------------- /examples/01_robot/09_set_mode.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="ap") 23 | 24 | ep_robot.set_robot_mode(mode=robot.GIMBAL_LEAD) 25 | 26 | ep_robot.close() 27 | -------------------------------------------------------------------------------- /examples/01_robot/demo1.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/01_robot/demo1.wav -------------------------------------------------------------------------------- /examples/01_robot/demo2.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/01_robot/demo2.wav -------------------------------------------------------------------------------- /examples/02_chassis/05_sub_position.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | def sub_position_handler(position_info): 22 | x, y, z = position_info 23 | print("chassis position: x:{0}, y:{1}, z:{2}".format(x, y, z)) 24 | 25 | 26 | if __name__ == '__main__': 27 | ep_robot = robot.Robot() 28 | ep_robot.initialize(conn_type="sta") 29 | 30 | ep_chassis = ep_robot.chassis 31 | 32 | # 订阅底盘位置信息 33 | ep_chassis.sub_position(freq=10, callback=sub_position_handler) 34 | ep_chassis.move(x=1.0, y=1.0, z=90).wait_for_completed() 35 | ep_chassis.unsub_position() 36 | 37 | ep_robot.close() 38 | -------------------------------------------------------------------------------- /examples/02_chassis/11_pwm.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="sta") 23 | 24 | ep_chassis = ep_robot.chassis 25 | 26 | #设置PWM输出频率为50Hz 27 | ep_chassis.set_pwm_freq(pwm1=50,pwm2=50,pwm3=50,pwm4=50,pwm5=50,pwm6=50) 28 | #设置PWM输出占空比为20% 29 | ep_chassis.set_pwm_value(pwm1=20,pwm2=20,pwm3=20,pwm4=20,pwm5=20,pwm6=20) 30 | 31 | ep_robot.close() 32 | -------------------------------------------------------------------------------- /examples/03_gimbal/03_control.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | 22 | if __name__ == '__main__': 23 | ep_robot = robot.Robot() 24 | ep_robot.initialize(conn_type="sta") 25 | 26 | ep_gimbal = ep_robot.gimbal 27 | 28 | # 控制云台休眠 29 | ep_gimbal.suspend() 30 | time.sleep(3) 31 | 32 | # 控制云台恢复 33 | ep_gimbal.resume() 34 | time.sleep(3) 35 | 36 | ep_robot.close() 37 | -------------------------------------------------------------------------------- /examples/04_camera/01_video_with_display.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | from robomaster import robot 19 | from robomaster import camera 20 | 21 | 22 | if __name__ == '__main__': 23 | ep_robot = robot.Robot() 24 | ep_robot.initialize(conn_type="sta") 25 | 26 | ep_camera = ep_robot.camera 27 | 28 | # 显示十秒图传 29 | ep_camera.start_video_stream(display=True, resolution=camera.STREAM_360P) 30 | time.sleep(10) 31 | ep_camera.stop_video_stream() 32 | 33 | ep_robot.close() 34 | -------------------------------------------------------------------------------- /examples/04_camera/02_video_strategy.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | import cv2 21 | 22 | 23 | if __name__ == '__main__': 24 | ep_robot = robot.Robot() 25 | ep_robot.initialize(conn_type="sta") 26 | 27 | ep_camera = ep_robot.camera 28 | 29 | # 每次获取最新的1帧图像显示，并停留1秒 30 | ep_camera.start_video_stream(display=False) 31 | for i in range(0, 10): 32 | img = ep_camera.read_cv2_image(strategy="newest") 33 | cv2.imshow("Robot", img) 34 | cv2.waitKey(1) 35 | time.sleep(1) 36 | cv2.destroyAllWindows() 37 | ep_camera.stop_video_stream() 38 | 39 | ep_robot.close() 40 | -------------------------------------------------------------------------------- /examples/04_camera/03_video_without_display.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import cv2 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | ep_robot.initialize(conn_type="sta") 24 | 25 | ep_camera = ep_robot.camera 26 | 27 | # 显示200帧图传 28 | ep_camera.start_video_stream(display=False) 29 | for i in range(0, 200): 30 | img = ep_camera.read_cv2_image() 31 | cv2.imshow("Robot", img) 32 | cv2.waitKey(1) 33 | cv2.destroyAllWindows() 34 | ep_camera.stop_video_stream() 35 | 36 | ep_robot.close() 37 | -------------------------------------------------------------------------------- /examples/04_camera/05_record_audio.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="rndis") 23 | 24 | ep_camera = ep_robot.camera 25 | 26 | ep_camera.record_audio(save_file="output.wav", seconds=5, sample_rate=16000) 27 | ep_robot.close() 28 | -------------------------------------------------------------------------------- /examples/07_led/01_set_led.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | from robomaster import robot 19 | from robomaster import led 20 | 21 | 22 | if __name__ == '__main__': 23 | ep_robot = robot.Robot() 24 | ep_robot.initialize(conn_type="sta") 25 | 26 | ep_led = ep_robot.led 27 | 28 | # 设置灯效为常亮，亮度递增 29 | bright = 1 30 | for i in range(0, 8): 31 | ep_led.set_led(comp=led.COMP_ALL, r=bright << i, g=bright << i, b=bright << i, effect=led.EFFECT_ON) 32 | time.sleep(1) 33 | print("brightness: {0}".format(bright << i)) 34 | 35 | ep_robot.close() 36 | 37 | -------------------------------------------------------------------------------- /examples/10_robotic_arm/01_move.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | ep_robot = robot.Robot() 23 | ep_robot.initialize(conn_type="sta") 24 | 25 | ep_arm = ep_robot.robotic_arm 26 | 27 | # 向前移动20毫米 28 | ep_arm.move(x=20, y=0).wait_for_completed() 29 | # 向后移动20毫米 30 | ep_arm.move(x=-20, y=0).wait_for_completed() 31 | # 向上移动20毫米 32 | ep_arm.move(x=0, y=20).wait_for_completed() 33 | # 向下移动20毫米 34 | ep_arm.move(x=0, y=-20).wait_for_completed() 35 | 36 | ep_robot.close() 37 | -------------------------------------------------------------------------------- /examples/11_gripper/01_open_close.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | 22 | if __name__ == '__main__': 23 | ep_robot = robot.Robot() 24 | ep_robot.initialize(conn_type="sta") 25 | 26 | ep_gripper = ep_robot.gripper 27 | 28 | # 张开机械爪 29 | ep_gripper.open(power=50) 30 | time.sleep(1) 31 | ep_gripper.pause() 32 | 33 | # 闭合机械爪 34 | ep_gripper.close(power=50) 35 | time.sleep(1) 36 | ep_gripper.pause() 37 | 38 | ep_robot.close() -------------------------------------------------------------------------------- /examples/12_drone/00_logger.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | import robomaster 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | # 如果本地IP 自动获取不正确，手动指定本地IP地址 22 | # robomaster.config.LOCAL_IP_STR = "192.168.10.22" 23 | 24 | tl_drone = robot.Drone() 25 | tl_drone.initialize() 26 | 27 | # 获取飞机版本信息 28 | version = tl_drone.get_sdk_version() 29 | print("Drone Version: {0}".format(version)) 30 | 31 | tl_drone.close() 32 | -------------------------------------------------------------------------------- /examples/12_drone/01_ap_conn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | import robomaster 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | # 如果本地IP 自动获取不正确，手动指定本地IP地址 22 | # robomaster.config.LOCAL_IP_STR = "192.168.10.22" 23 | tl_drone = robot.Drone() 24 | # 初始化 25 | tl_drone.initialize() 26 | 27 | # 获取飞机SDK版本信息 28 | version = tl_drone.get_sdk_version() 29 | print("Drone SDK Version: {0}".format(version)) 30 | 31 | tl_drone.close() 32 | -------------------------------------------------------------------------------- /examples/12_drone/02_get_version.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | # 获取飞机版本信息 26 | drone_version = tl_drone.get_sdk_version() 27 | print("Drone sdk version: {0}".format(drone_version)) 28 | 29 | tl_drone.close() 30 | -------------------------------------------------------------------------------- /examples/12_drone/03_get_sn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | # 获取飞机SN信息 26 | SN = tl_drone.get_sn() 27 | print("drone sn: {0}".format(SN)) 28 | 29 | tl_drone.close() 30 | -------------------------------------------------------------------------------- /examples/12_drone/04_get_battery.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | # 获取飞机电池电量信息 26 | tl_battery = tl_drone.battery 27 | battery_info = tl_battery.get_battery() 28 | print("Drone battery soc: {0}".format(battery_info)) 29 | 30 | tl_drone.close() 31 | -------------------------------------------------------------------------------- /examples/12_drone/05_takeoff_land.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞后降落 28 | tl_flight.takeoff().wait_for_completed() 29 | tl_flight.land().wait_for_completed() 30 | 31 | tl_drone.close() 32 | -------------------------------------------------------------------------------- /examples/12_drone/06_rotate.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 旋转180度 和 -180度 31 | tl_flight.rotate(angle=180).wait_for_completed() 32 | tl_flight.rotate(angle=-180).wait_for_completed() 33 | 34 | # 降落 35 | tl_flight.land().wait_for_completed() 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/12_drone/07_forward_backward.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 向前飞50厘米，向后飞50厘米 31 | tl_flight.forward(distance=50).wait_for_completed() 32 | tl_flight.backward(distance=50).wait_for_completed() 33 | 34 | # 降落 35 | tl_flight.land().wait_for_completed() 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/12_drone/08_up_down.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 上升20厘米，下降20厘米 31 | tl_flight.up(distance=20).wait_for_completed() 32 | tl_flight.down(distance=20).wait_for_completed() 33 | 34 | # 降落 35 | tl_flight.land().wait_for_completed() 36 | 37 | tl_drone.close() 38 | 39 | -------------------------------------------------------------------------------- /examples/12_drone/09_left_right.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 向左飞50厘米，向右飞50厘米 31 | tl_flight.left(distance=50).wait_for_completed() 32 | tl_flight.right(distance=50).wait_for_completed() 33 | 34 | # 降落 35 | tl_flight.land().wait_for_completed() 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/12_drone/10_go.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 飞向指定地点 31 | tl_flight.go(x=100, y=100, z=30, speed=30).wait_for_completed() 32 | tl_flight.go(x=-100, y=-100, z=-30, speed=30).wait_for_completed() 33 | 34 | # 降落 35 | tl_flight.land().wait_for_completed() 36 | 37 | tl_drone.close() 38 | 39 | -------------------------------------------------------------------------------- /examples/12_drone/11_curve.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | from robomaster import flight 20 | 21 | 22 | if __name__ == '__main__': 23 | tl_drone = robot.Drone() 24 | tl_drone.initialize() 25 | 26 | tl_flight = tl_drone.flight 27 | 28 | # 起飞 29 | tl_flight.takeoff().wait_for_completed() 30 | 31 | # 曲线飞行 32 | tl_flight.curve(x1=60, y1=60, z1=0, x2=120, y2=0, z2=30, speed=30).wait_for_completed() 33 | tl_flight.curve(x1=-60, y1=60, z1=0, x2=-120, y2=0, z2=-30, speed=30).wait_for_completed() 34 | 35 | # 降落 36 | tl_flight.land().wait_for_completed() 37 | 38 | tl_drone.close() 39 | -------------------------------------------------------------------------------- /examples/12_drone/12_flip.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 不同方向翻转 31 | tl_flight.flip_forward().wait_for_completed() 32 | tl_flight.flip_backward().wait_for_completed() 33 | tl_flight.flip_left().wait_for_completed() 34 | tl_flight.flip_right().wait_for_completed() 35 | 36 | # 降落 37 | tl_flight.land().wait_for_completed() 38 | 39 | tl_drone.close() 40 | -------------------------------------------------------------------------------- /examples/12_drone/13_rc.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | tl_flight = tl_drone.flight 26 | 27 | # 起飞 28 | tl_flight.takeoff().wait_for_completed() 29 | 30 | # 左移 31 | tl_flight.rc(a=20, b=0, c=0, d=0) 32 | time.sleep(4) 33 | 34 | # 右移 35 | tl_flight.rc(a=-20, b=0, c=0, d=0) 36 | time.sleep(3) 37 | 38 | # 停止 39 | tl_flight.rc(a=0, b=0, c=0, d=0) 40 | 41 | # 降落 42 | tl_flight.land().wait_for_completed() 43 | 44 | tl_drone.close() 45 | -------------------------------------------------------------------------------- /examples/12_drone/16_video_stream.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | import cv2 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | tl_drone = robot.Drone() 22 | tl_drone.initialize() 23 | 24 | tl_camera = tl_drone.camera 25 | # 显示302帧图传 26 | tl_camera.start_video_stream(display=False) 27 | tl_camera.set_fps("high") 28 | tl_camera.set_resolution("high") 29 | tl_camera.set_bitrate(6) 30 | for i in range(0, 302): 31 | img = tl_camera.read_cv2_image() 32 | cv2.imshow("Drone", img) 33 | cv2.waitKey(1) 34 | cv2.destroyAllWindows() 35 | tl_camera.stop_video_stream() 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/12_drone/18_sub_battery.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | 22 | def sub_battery_info_handler(battery_info): 23 | battery_soc = battery_info 24 | print("Drone battery: soc {0}".format(battery_soc)) 25 | 26 | 27 | if __name__ == '__main__': 28 | tl_drone = robot.Drone() 29 | tl_drone.initialize() 30 | 31 | # 订阅电池信息 32 | tl_drone.battery.sub_battery_info(freq=1, callback=sub_battery_info_handler) 33 | time.sleep(5) 34 | 35 | # 取消订阅 36 | tl_drone.battery.unsub_battery_info() 37 | 38 | tl_drone.close() 39 | 40 | -------------------------------------------------------------------------------- /examples/12_drone/20_led.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | 22 | if __name__ == '__main__': 23 | tl_drone = robot.Drone() 24 | tl_drone.initialize() 25 | 26 | tl_led = tl_drone.led 27 | 28 | tl_led.set_led(r=0, g=0, b=0) 29 | 30 | rgb_list = [(100, 100, 100), (255, 255, 255), (255, 0, 0), (0, 0, 255), 31 | (0, 255, 0), (255, 255, 0), (255, 0, 255), (0, 255, 255)] 32 | 33 | for rgb_info in rgb_list: 34 | tl_led.set_led(r=rgb_info[0], g=rgb_info[1], b=rgb_info[2]) 35 | time.sleep(0.5) 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/12_drone/22_tof.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | import robomaster 19 | from robomaster import robot 20 | 21 | 22 | if __name__ == '__main__': 23 | tl_drone = robot.Drone() 24 | tl_drone.initialize() 25 | 26 | for i in range(0, 10): 27 | tof_info = tl_drone.sensor.get_ext_tof() 28 | print("ext tof: {0}".format(tof_info)) 29 | time.sleep(0.5) 30 | 31 | tl_drone.close() 32 | 33 | -------------------------------------------------------------------------------- /examples/12_drone/23_set_sta.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | # 切换飞行器WiFi模式为组网模式，指定路由器SSID和密码 26 | tl_drone.config_sta(ssid="RoboMaster_SDK_WiFi", password="12341234") 27 | 28 | tl_drone.close() 29 | 30 | -------------------------------------------------------------------------------- /examples/12_drone/24_get_ssid.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | 20 | 21 | if __name__ == '__main__': 22 | tl_drone = robot.Drone() 23 | tl_drone.initialize() 24 | 25 | # 获取飞机SSID信息 26 | ssid = tl_drone.get_ssid() 27 | print("drone ssid: {0}".format(ssid)) 28 | 29 | tl_drone.close() 30 | -------------------------------------------------------------------------------- /examples/13_servo/01_set_angle.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | from robomaster import robot 18 | 19 | 20 | if __name__ == '__main__': 21 | ep_robot = robot.Robot() 22 | ep_robot.initialize(conn_type="sta") 23 | 24 | ep_servo = ep_robot.servo 25 | 26 | # 舵机3 转到0度 27 | ep_servo.moveto(index=3, angle=90).wait_for_completed() 28 | 29 | ep_robot.close() 30 | 31 | 32 | -------------------------------------------------------------------------------- /examples/14_sensor/02_tof_data.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | import time 20 | 21 | 22 | def sub_data_handler(sub_info): 23 | distance = sub_info 24 | print("tof1:{0} tof2:{1} tof3:{2} tof4:{3}".format(distance[0], distance[1], distance[2], distance[3])) 25 | 26 | 27 | if __name__ == '__main__': 28 | ep_robot = robot.Robot() 29 | ep_robot.initialize(conn_type="sta") 30 | 31 | ep_sensor = ep_robot.sensor 32 | ep_sensor.sub_distance(freq=5, callback=sub_data_handler) 33 | time.sleep(60) 34 | ep_sensor.unsub_distance() 35 | ep_robot.close() 36 | -------------------------------------------------------------------------------- /examples/14_sensor/03_io_data.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import robomaster 18 | from robomaster import robot 19 | import time 20 | 21 | 22 | def sub_data_handler(sub_info): 23 | io_data, ad_data = sub_info 24 | print("io value: {0}, ad value: {1}".format(io_data, ad_data)) 25 | 26 | 27 | if __name__ == '__main__': 28 | ep_robot = robot.Robot() 29 | ep_robot.initialize(conn_type="sta") 30 | 31 | ep_sensor = ep_robot.sensor_adaptor 32 | ep_sensor.sub_adapter(freq=5, callback=sub_data_handler) 33 | time.sleep(60) 34 | ep_sensor.unsub_adapter() 35 | ep_robot.close() 36 | -------------------------------------------------------------------------------- /examples/15_multi_robot/multi_drone/01_scan_ip.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI, Inc. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | from multi_robomaster import multi_robot 17 | 18 | 19 | if __name__ == '__main__': 20 | 21 | multi_drone = multi_robot.MultiDrone() 22 | # change the robot_num that you want to scan 23 | multi_drone.initialize(robot_num=2) 24 | drone_ip_list = multi_drone._get_sn(timeout=10) 25 | for sn in drone_ip_list: 26 | print("scan result: sn:{0}, ip:{1}".format(sn, drone_ip_list[sn])) 27 | 28 | 29 | -------------------------------------------------------------------------------- /examples/15_multi_robot/multi_ep/01_scan_robot_sn.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | from robomaster import conn 17 | 18 | 19 | if __name__ == '__main__': 20 | # set the time for scanning ep robot 21 | conn.scan_robot_ip_list(timeout=10) 22 | 23 | 24 | -------------------------------------------------------------------------------- /examples/17_ai_module/01_ai_module_tt.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | import time 18 | from robomaster import robot 19 | 20 | 21 | def sub_ia_info_handler(ai_info): 22 | id, x, y, w, h, C = ai_info 23 | print("ai target id:{0}, x:{1:.3f}, y:{2:.3f}, w:{3:.3f}, h:{4:.3f}, C:{5}".format(id, x, y, w, h, C)) 24 | 25 | 26 | if __name__ == '__main__': 27 | tl_drone = robot.Drone() 28 | tl_drone.initialize() 29 | 30 | # 订阅AI模块信息 31 | tl_drone.ai_module.sub_ai_info(freq=5, callback=sub_ia_info_handler) 32 | time.sleep(60) 33 | 34 | # 取消订阅 35 | tl_drone.ai_module.unsub_ai_info() 36 | 37 | tl_drone.close() 38 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/README.md: -------------------------------------------------------------------------------- 1 | # RoboMaster-SDK 2 | 3 | 4 | 5 | Learn more about the RoboMaster Education Robot: https://www.dji.com/robomaster-ep 6 | 7 | RoboMaster Developer Guide: https://robomaster-dev.rtfd.io/ 8 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/README.md: -------------------------------------------------------------------------------- 1 | # Sample code 2 | 3 | Some sample code about robot connection. 4 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/network/README.md: -------------------------------------------------------------------------------- 1 | # Connection 2 | 3 | robot_connection.py is a python module that supports a basic networking connection methods for connecting robots. 4 | 5 | For more information, please refer help(robot_connection) in python interpreter. 6 | 7 | About usage exapmle plase refer: 8 | - ./direct_connection.py 9 | - ./networking_conneciton.py 10 | - ./usb_connection.py 11 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/network/direct_connection.py: -------------------------------------------------------------------------------- 1 | #! python3 2 | 3 | import robot_connection 4 | 5 | WIFI_DIRECT_CONNECTION_IP = '192.168.2.1' 6 | 7 | robot = robot_connection.RobotConnection(WIFI_DIRECT_CONNECTION_IP) 8 | 9 | if not robot.open(): 10 | print('open fail') 11 | exit(1) 12 | 13 | robot.send_data('command') 14 | print('send data to robot : command') 15 | recv = robot.recv_ctrl_data(5) 16 | print('recv data from robot : %s'%recv) 17 | 18 | 19 | robot.send_data('version') 20 | print('send data to robot : version ?') 21 | recv = robot.recv_ctrl_data(5) 22 | print('recv data from robot : %s'%recv) 23 | 24 | robot.send_data('quit') 25 | print('send data to robot : quit') 26 | recv = robot.recv_ctrl_data(5) 27 | print('recv data from robot : %s'%recv) 28 | 29 | robot.close() 30 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/network/networking_connection.py: -------------------------------------------------------------------------------- 1 | #! python3 2 | 3 | import robot_connection 4 | 5 | robot = robot_connection.RobotConnection() 6 | 7 | robot_ip = robot.get_robot_ip(10) 8 | 9 | if robot_ip: 10 | print('robot ip: %s'%robot_ip) 11 | robot.update_robot_ip(robot_ip) 12 | 13 | if not robot.open(): 14 | print('open fail') 15 | exit(1) 16 | 17 | robot.send_data('command') 18 | print('send data to robot : command') 19 | recv = robot.recv_ctrl_data(5) 20 | print('recv data from robot : %s'%recv) 21 | 22 | 23 | robot.send_data('version ?') 24 | print('send data to robot : version ?') 25 | recv = robot.recv_ctrl_data(5) 26 | print('recv data from robot : %s'%recv) 27 | 28 | robot.send_data('quit') 29 | print('send data to robot : quit') 30 | recv = robot.recv_ctrl_data(5) 31 | print('recv data from robot : %s'%recv) 32 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/network/usb_connection.py: -------------------------------------------------------------------------------- 1 | #! python3 2 | 3 | import robot_connection 4 | 5 | USB_DIRECT_CONNECTION_IP = '192.168.42.2' 6 | 7 | robot = robot_connection.RobotConnection(USB_DIRECT_CONNECTION_IP) 8 | 9 | if not robot.open(): 10 | print('open fail') 11 | exit(1) 12 | 13 | robot.send_data('command') 14 | print('send data to robot : command') 15 | recv = robot.recv_ctrl_data(5) 16 | print('recv data from robot : %s'%recv) 17 | 18 | 19 | robot.send_data('version') 20 | print('send data to robot : version ?') 21 | recv = robot.recv_ctrl_data(5) 22 | print('recv data from robot : %s'%recv) 23 | 24 | robot.send_data('quit') 25 | print('send data to robot : quit') 26 | recv = robot.recv_ctrl_data(5) 27 | print('recv data from robot : %s'%recv) 28 | 29 | robot.close() 30 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/uart/README.md: -------------------------------------------------------------------------------- 1 | # UART 2 | 3 | uart_connection.py is a usage exapmle about uart connection. 4 | 5 | The script has been tested by python3.x on windows OS. 6 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/connection/uart/uart_connection.py: -------------------------------------------------------------------------------- 1 | import serial 2 | 3 | ser = serial.Serial() 4 | 5 | # uart config baudrate 115200, bytesize 8, stopbit 1, prity None, timeout 0.2s 6 | ser.port = 'COM3' 7 | ser.baudrate = 115200 8 | ser.bytesize = serial.EIGHTBITS 9 | ser.stopbits = serial.STOPBITS_ONE 10 | ser.parity = serial.PARITY_NONE 11 | ser.timeout = 0.2 12 | 13 | # open uart 14 | ser.open() 15 | 16 | ser.write('command'.encode('utf-8')) 17 | print('send data to ser. : command') 18 | recv = ser.read() 19 | print('recv data from ser.: %s'%recv) 20 | 21 | 22 | ser.write('version'.encode('utf-8')) 23 | print('send data to ser. : version ?') 24 | recv = ser.read() 25 | print('recv data from ser.: %s'%recv) 26 | 27 | ser.write('quit'.encode('utf-8')) 28 | print('send data to ser. : quit') 29 | recv = ser.read() 30 | print('recv data from ser.: %s'%recv) 31 | 32 | ser.close() 33 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/build.sh: -------------------------------------------------------------------------------- 1 | mkdir _build_tmp 2 | cd _build_tmp 3 | cmake ../src 4 | make -j4 5 | cd .. 6 | rm -rf _build_tmp 7 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.4.1) 2 | project (robomaster_video_and_audio_decoder) 3 | set(CMAKE_CXX_STANDARD 11) 4 | set(CMAKE_BUILD_TYPE Release) 5 | SET(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/../output) 6 | list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") 7 | find_package(Opus REQUIRED) 8 | 9 | set(PYBIND11_PYTHON_VERSION 3) 10 | set(PYBIND11_CPP_STANDARD -std=c++11) 11 | add_subdirectory(pybind11) 12 | #find_package(pybind11) 13 | 14 | pybind11_add_module(opus_decoder opus_decoder/opus_decoder.cpp) 15 | target_link_libraries(opus_decoder PRIVATE ${OPUS_LIBRARIES}) 16 | target_include_directories(opus_decoder PRIVATE ${OPUS_INCLUDE_DIRS}) 17 | 18 | pybind11_add_module(libh264decoder h264_decoder/h264decoder.cpp) 19 | target_link_libraries(libh264decoder PRIVATE avcodec swscale avutil) 20 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/cmake/FindOpus.cmake: -------------------------------------------------------------------------------- 1 | # 2 | # - Find the opus include file and library 3 | # 4 | # OPUS_FOUND - system has opus 5 | # OPUS_INCLUDE_DIRS - the opus include directory 6 | # OPUS_LIBRARIES - The libraries needed to use opus 7 | 8 | find_path(OPUS_INCLUDE_DIRS 9 | NAMES opus/opus.h 10 | PATH_SUFFIXES include 11 | ) 12 | if(OPUS_INCLUDE_DIRS) 13 | set(HAVE_OPUS_OPUS_H 1) 14 | endif() 15 | 16 | find_library(OPUS_LIBRARIES NAMES opus) 17 | 18 | if(OPUS_LIBRARIES) 19 | find_library(LIBM NAMES m) 20 | if(LIBM) 21 | list(APPEND OPUS_LIBRARIES ${LIBM}) 22 | endif() 23 | endif() 24 | 25 | include(FindPackageHandleStandardArgs) 26 | find_package_handle_standard_args(Opus 27 | DEFAULT_MSG 28 | OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H 29 | ) 30 | 31 | mark_as_advanced(OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H) -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/opus_decoder/opus_decoder.cpp: -------------------------------------------------------------------------------- 1 | #include "opus_decoder.h" 2 | #include 3 | namespace py = pybind11; 4 | PYBIND11_MODULE(opus_decoder, m) { 5 | m.doc()="opus_decoder for pybind11 plugin"; 6 | py::class_ ad(m, "opus_decoder"); 7 | ad.def(py::init(),py::arg("frame_size") = 960, 8 | py::arg("sample_rate") = 48000, py::arg("channels") = 1); 9 | ad.def("decode", &PyOpusDecoder::Decode, "Decode Function",py::arg("in")); 10 | 11 | } -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/MANIFEST.in: -------------------------------------------------------------------------------- 1 | recursive-include include/pybind11 *.h 2 | include LICENSE README.md CONTRIBUTING.md 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/Doxyfile: -------------------------------------------------------------------------------- 1 | PROJECT_NAME = pybind11 2 | INPUT = ../include/pybind11/ 3 | RECURSIVE = YES 4 | 5 | GENERATE_HTML = NO 6 | GENERATE_LATEX = NO 7 | GENERATE_XML = YES 8 | XML_OUTPUT = .build/doxygenxml 9 | XML_PROGRAMLISTING = YES 10 | 11 | MACRO_EXPANSION = YES 12 | EXPAND_ONLY_PREDEF = YES 13 | EXPAND_AS_DEFINED = PYBIND11_RUNTIME_EXCEPTION 14 | 15 | ALIASES = "rst=\verbatim embed:rst" 16 | ALIASES += "endrst=\endverbatim" 17 | 18 | QUIET = YES 19 | WARNINGS = YES 20 | WARN_IF_UNDOCUMENTED = NO 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/_static/theme_overrides.css: -------------------------------------------------------------------------------- 1 | .wy-table-responsive table td, 2 | .wy-table-responsive table th { 3 | white-space: initial !important; 4 | } 5 | .rst-content table.docutils td { 6 | vertical-align: top !important; 7 | } 8 | div[class^='highlight'] pre { 9 | white-space: pre; 10 | white-space: pre-wrap; 11 | } 12 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/pycpp/index.rst: -------------------------------------------------------------------------------- 1 | Python C++ interface 2 | #################### 3 | 4 | pybind11 exposes Python types and functions using thin C++ wrappers, which 5 | makes it possible to conveniently call Python code from C++ without resorting 6 | to Python's C API. 7 | 8 | .. toctree:: 9 | :maxdepth: 2 10 | 11 | object 12 | numpy 13 | utilities 14 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/index.rst: -------------------------------------------------------------------------------- 1 | .. only: not latex 2 | 3 | .. image:: pybind11-logo.png 4 | 5 | pybind11 --- Seamless operability between C++11 and Python 6 | ========================================================== 7 | 8 | .. only: not latex 9 | 10 | Contents: 11 | 12 | .. toctree:: 13 | :maxdepth: 1 14 | 15 | intro 16 | changelog 17 | upgrade 18 | 19 | .. toctree:: 20 | :caption: The Basics 21 | :maxdepth: 2 22 | 23 | basics 24 | classes 25 | compiling 26 | 27 | .. toctree:: 28 | :caption: Advanced Topics 29 | :maxdepth: 2 30 | 31 | advanced/functions 32 | advanced/classes 33 | advanced/exceptions 34 | advanced/smart_ptrs 35 | advanced/cast/index 36 | advanced/pycpp/index 37 | advanced/embedding 38 | advanced/misc 39 | 40 | .. toctree:: 41 | :caption: Extra Information 42 | :maxdepth: 1 43 | 44 | faq 45 | benchmark 46 | limitations 47 | reference 48 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/limitations.rst: -------------------------------------------------------------------------------- 1 | Limitations 2 | ########### 3 | 4 | pybind11 strives to be a general solution to binding generation, but it also has 5 | certain limitations: 6 | 7 | - pybind11 casts away ``const``-ness in function arguments and return values. 8 | This is in line with the Python language, which has no concept of ``const`` 9 | values. This means that some additional care is needed to avoid bugs that 10 | would be caught by the type checker in a traditional C++ program. 11 | 12 | - The NumPy interface ``pybind11::array`` greatly simplifies accessing 13 | numerical data from C++ (and vice versa), but it's not a full-blown array 14 | class like ``Eigen::Array`` or ``boost.multi_array``. 15 | 16 | These features could be implemented but would lead to a significant increase in 17 | complexity. I've decided to draw the line here to keep this project simple and 18 | compact. Users who absolutely require these features are encouraged to fork 19 | pybind11. 20 | 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11-logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11-logo.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11_vs_boost_python1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11_vs_boost_python1.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11_vs_boost_python2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/pybind11_vs_boost_python2.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/release.rst: -------------------------------------------------------------------------------- 1 | To release a new version of pybind11: 2 | 3 | - Update the version number and push to pypi 4 | - Update ``pybind11/_version.py`` (set release version, remove 'dev'). 5 | - Update ``PYBIND11_VERSION_MAJOR`` etc. in ``include/pybind11/detail/common.h``. 6 | - Ensure that all the information in ``setup.py`` is up-to-date. 7 | - Update version in ``docs/conf.py``. 8 | - Tag release date in ``docs/changelog.rst``. 9 | - ``git add`` and ``git commit``. 10 | - if new minor version: ``git checkout -b vX.Y``, ``git push -u origin vX.Y`` 11 | - ``git tag -a vX.Y.Z -m 'vX.Y.Z release'``. 12 | - ``git push`` 13 | - ``git push --tags``. 14 | - ``python setup.py sdist upload``. 15 | - ``python setup.py bdist_wheel upload``. 16 | - Get back to work 17 | - Update ``_version.py`` (add 'dev' and increment minor). 18 | - Update version in ``docs/conf.py`` 19 | - Update version macros in ``include/pybind11/common.h`` 20 | - ``git add`` and ``git commit``. 21 | ``git push`` 22 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/requirements.txt: -------------------------------------------------------------------------------- 1 | breathe == 4.5.0 2 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/include/pybind11/common.h: -------------------------------------------------------------------------------- 1 | #include "detail/common.h" 2 | #warning "Including 'common.h' is deprecated. It will be removed in v3.0. Use 'pybind11.h'." 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/pybind11/__init__.py: -------------------------------------------------------------------------------- 1 | from ._version import version_info, __version__ # noqa: F401 imported but unused 2 | 3 | 4 | def get_include(user=False): 5 | import os 6 | d = os.path.dirname(__file__) 7 | if os.path.exists(os.path.join(d, "include")): 8 | # Package is installed 9 | return os.path.join(d, "include") 10 | else: 11 | # Package is from a source directory 12 | return os.path.join(os.path.dirname(d), "include") 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/pybind11/__main__.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function 2 | 3 | import argparse 4 | import sys 5 | import sysconfig 6 | 7 | from . import get_include 8 | 9 | 10 | def print_includes(): 11 | dirs = [sysconfig.get_path('include'), 12 | sysconfig.get_path('platinclude'), 13 | get_include()] 14 | 15 | # Make unique but preserve order 16 | unique_dirs = [] 17 | for d in dirs: 18 | if d not in unique_dirs: 19 | unique_dirs.append(d) 20 | 21 | print(' '.join('-I' + d for d in unique_dirs)) 22 | 23 | 24 | def main(): 25 | parser = argparse.ArgumentParser(prog='python -m pybind11') 26 | parser.add_argument('--includes', action='store_true', 27 | help='Include flags for both pybind11 and Python headers.') 28 | args = parser.parse_args() 29 | if not sys.argv[1:]: 30 | parser.print_help() 31 | if args.includes: 32 | print_includes() 33 | 34 | 35 | if __name__ == '__main__': 36 | main() 37 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/pybind11/_version.py: -------------------------------------------------------------------------------- 1 | version_info = (2, 4, 'dev4') 2 | __version__ = '.'.join(map(str, version_info)) 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/setup.cfg: -------------------------------------------------------------------------------- 1 | [bdist_wheel] 2 | universal=1 3 | 4 | [flake8] 5 | max-line-length = 99 6 | show_source = True 7 | exclude = .git, __pycache__, build, dist, docs, tools, venv 8 | ignore = 9 | # required for pretty matrix formatting: multiple spaces after `,` and `[` 10 | E201, E241, W504, 11 | # camelcase 'cPickle' imported as lowercase 'pickle' 12 | N813 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/cross_module_gil_utils.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/cross_module_gil_utils.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/pybind11_cross_module_tests.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/pybind11_cross_module_tests.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/pybind11_tests.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/pybind11_tests.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | minversion = 3.0 3 | norecursedirs = test_cmake_build test_embed 4 | addopts = 5 | # show summary of skipped tests 6 | -rs 7 | # capture only Python print and C++ py::print, but not C output (low-level Python errors) 8 | --capture=sys 9 | filterwarnings = 10 | # make warnings into errors but ignore certain third-party extension issues 11 | error 12 | # importing scipy submodules on some version of Python 13 | ignore::ImportWarning 14 | # bogus numpy ABI warning (see numpy/#432) 15 | ignore:.*numpy.dtype size changed.*:RuntimeWarning 16 | ignore:.*numpy.ufunc size changed.*:RuntimeWarning 17 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_async.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_async.cpp -- __await__ support 3 | 4 | Copyright (c) 2019 Google Inc. 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(async_module, m) { 13 | struct DoesNotSupportAsync {}; 14 | py::class_(m, "DoesNotSupportAsync") 15 | .def(py::init<>()); 16 | struct SupportsAsync {}; 17 | py::class_(m, "SupportsAsync") 18 | .def(py::init<>()) 19 | .def("__await__", [](const SupportsAsync& self) -> py::object { 20 | static_cast(self); 21 | py::object loop = py::module::import("asyncio.events").attr("get_event_loop")(); 22 | py::object f = loop.attr("create_future")(); 23 | f.attr("set_result")(5); 24 | return f.attr("__await__")(); 25 | }); 26 | } 27 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_async.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | import pytest 3 | from pybind11_tests import async_module as m 4 | 5 | 6 | @pytest.fixture 7 | def event_loop(): 8 | loop = asyncio.new_event_loop() 9 | yield loop 10 | loop.close() 11 | 12 | 13 | async def get_await_result(x): 14 | return await x 15 | 16 | 17 | def test_await(event_loop): 18 | assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync())) 19 | 20 | 21 | def test_await_missing(event_loop): 22 | with pytest.raises(TypeError): 23 | event_loop.run_until_complete(get_await_result(m.DoesNotSupportAsync())) 24 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/embed.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | 8 | int main(int argc, char *argv[]) { 9 | if (argc != 2) 10 | throw std::runtime_error("Expected test.py file as the first argument"); 11 | auto test_py_file = argv[1]; 12 | 13 | py::scoped_interpreter guard{}; 14 | 15 | auto m = py::module::import("test_cmake_build"); 16 | if (m.attr("add")(1, 2).cast() != 3) 17 | throw std::runtime_error("embed.cpp failed"); 18 | 19 | py::module::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp"); 20 | py::eval_file(test_py_file, py::globals()); 21 | } 22 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_embed CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | find_package(pybind11 CONFIG REQUIRED) 6 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 7 | 8 | add_executable(test_cmake_build ../embed.cpp) 9 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 10 | 11 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::embed). 12 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 13 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 14 | 15 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 16 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_installed_module CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | pybind11_add_module(test_cmake_build SHARED NO_EXTRAS ../main.cpp) 10 | 11 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 12 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_target CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | add_library(test_cmake_build MODULE ../main.cpp) 10 | 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 12 | 13 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 14 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 15 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 16 | 17 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::module). 18 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 19 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 20 | 21 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 22 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_embed CXX) 3 | 4 | set(PYBIND11_INSTALL ON CACHE BOOL "") 5 | set(PYBIND11_EXPORT_NAME test_export) 6 | 7 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 8 | 9 | # Test basic target functionality 10 | add_executable(test_cmake_build ../embed.cpp) 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 12 | 13 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 14 | 15 | # Test custom export group -- PYBIND11_EXPORT_NAME 16 | add_library(test_embed_lib ../embed.cpp) 17 | target_link_libraries(test_embed_lib PRIVATE pybind11::embed) 18 | 19 | install(TARGETS test_embed_lib 20 | EXPORT test_export 21 | ARCHIVE DESTINATION bin 22 | LIBRARY DESTINATION lib 23 | RUNTIME DESTINATION lib) 24 | install(EXPORT test_export 25 | DESTINATION lib/cmake/test_export/test_export-Targets.cmake) 26 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_subdirectory_module CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | pybind11_add_module(test_cmake_build THIN_LTO ../main.cpp) 6 | 7 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 8 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 9 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_target CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | 6 | add_library(test_cmake_build MODULE ../main.cpp) 7 | 8 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 9 | 10 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 11 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 12 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 13 | 14 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 15 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 16 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/test.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import test_cmake_build 3 | 4 | assert test_cmake_build.add(1, 2) == 3 5 | print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1])) 6 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_embed/catch.cpp: -------------------------------------------------------------------------------- 1 | // The Catch implementation is compiled here. This is a standalone 2 | // translation unit to avoid recompiling it for every test change. 3 | 4 | #include 5 | 6 | #ifdef _MSC_VER 7 | // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch 8 | // 2.0.1; this should be fixed in the next catch release after 2.0.1). 9 | # pragma warning(disable: 4996) 10 | #endif 11 | 12 | #define CATCH_CONFIG_RUNNER 13 | #include 14 | 15 | namespace py = pybind11; 16 | 17 | int main(int argc, char *argv[]) { 18 | py::scoped_interpreter guard{}; 19 | auto result = Catch::Session().run(argc, argv); 20 | 21 | return result < 0xff ? result : 0xff; 22 | } 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_embed/external_module.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace py = pybind11; 4 | 5 | /* Simple test module/test class to check that the referenced internals data of external pybind11 6 | * modules aren't preserved over a finalize/initialize. 7 | */ 8 | 9 | PYBIND11_MODULE(external_module, m) { 10 | class A { 11 | public: 12 | A(int value) : v{value} {}; 13 | int v; 14 | }; 15 | 16 | py::class_(m, "A") 17 | .def(py::init()) 18 | .def_readwrite("value", &A::v); 19 | 20 | m.def("internals_at", []() { 21 | return reinterpret_cast(&py::detail::get_internals()); 22 | }); 23 | } 24 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_embed/test_interpreter.py: -------------------------------------------------------------------------------- 1 | from widget_module import Widget 2 | 3 | 4 | class DerivedWidget(Widget): 5 | def __init__(self, message): 6 | super(DerivedWidget, self).__init__(message) 7 | 8 | def the_answer(self): 9 | return 42 10 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_eval.py: -------------------------------------------------------------------------------- 1 | import os 2 | from pybind11_tests import eval_ as m 3 | 4 | 5 | def test_evals(capture): 6 | with capture: 7 | assert m.test_eval_statements() 8 | assert capture == "Hello World!" 9 | 10 | assert m.test_eval() 11 | assert m.test_eval_single_statement() 12 | 13 | filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py") 14 | assert m.test_eval_file(filename) 15 | 16 | assert m.test_eval_failure() 17 | assert m.test_eval_file_failure() 18 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_eval_call.py: -------------------------------------------------------------------------------- 1 | # This file is called from 'test_eval.py' 2 | 3 | if 'call_test2' in locals(): 4 | call_test2(y) # noqa: F821 undefined name 5 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_tagbased_polymorphic.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import tagbased_polymorphic as m 2 | 3 | 4 | def test_downcast(): 5 | zoo = m.create_zoo() 6 | assert [type(animal) for animal in zoo] == [ 7 | m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther 8 | ] 9 | assert [animal.name for animal in zoo] == [ 10 | "Fido", "Ginger", "Hertzl", "Tiger", "Leo" 11 | ] 12 | zoo[1].sound = "woooooo" 13 | assert [dog.bark() for dog in zoo[:3]] == [ 14 | "Labrador Fido goes WOOF!", 15 | "Dog Ginger goes woooooo", 16 | "Chihuahua Hertzl goes iyiyiyiyiyi and runs in circles" 17 | ] 18 | assert [cat.purr() for cat in zoo[3:]] == ["mrowr", "mrrrRRRRRR"] 19 | zoo[0].excitement -= 1000 20 | assert zoo[0].excitement == 14000 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_union.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_class.cpp -- test py::class_ definitions and basic functionality 3 | 4 | Copyright (c) 2019 Roland Dreier 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(union_, m) { 13 | union TestUnion { 14 | int value_int; 15 | unsigned value_uint; 16 | }; 17 | 18 | py::class_(m, "TestUnion") 19 | .def(py::init<>()) 20 | .def_readonly("as_int", &TestUnion::value_int) 21 | .def_readwrite("as_uint", &TestUnion::value_uint); 22 | } 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_union.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import union_ as m 2 | 3 | 4 | def test_union(): 5 | instance = m.TestUnion() 6 | 7 | instance.as_uint = 10 8 | assert instance.as_int == 10 9 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tools/libsize.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function, division 2 | import os 3 | import sys 4 | 5 | # Internal build script for generating debugging test .so size. 6 | # Usage: 7 | # python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the 8 | # size in it, then overwrites save.txt with the new size for future runs. 9 | 10 | if len(sys.argv) != 3: 11 | sys.exit("Invalid arguments: usage: python libsize.py file.so save.txt") 12 | 13 | lib = sys.argv[1] 14 | save = sys.argv[2] 15 | 16 | if not os.path.exists(lib): 17 | sys.exit("Error: requested file ({}) does not exist".format(lib)) 18 | 19 | libsize = os.path.getsize(lib) 20 | 21 | print("------", os.path.basename(lib), "file size:", libsize, end='') 22 | 23 | if os.path.exists(save): 24 | with open(save) as sf: 25 | oldsize = int(sf.readline()) 26 | 27 | if oldsize > 0: 28 | change = libsize - oldsize 29 | if change == 0: 30 | print(" (no change)") 31 | else: 32 | print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize)) 33 | else: 34 | print() 35 | 36 | with open(save, 'w') as sf: 37 | sf.write(str(libsize)) 38 | 39 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/build.sh: -------------------------------------------------------------------------------- 1 | mkdir _build_tmp 2 | cd _build_tmp 3 | cmake ../src 4 | make -j4 5 | cd .. 6 | rm -rf _build_tmp 7 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.4.1) 2 | project (robomaster_video_and_audio_decoder) 3 | set(CMAKE_CXX_STANDARD 11) 4 | set(CMAKE_BUILD_TYPE Release) 5 | SET(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/../output) 6 | list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") 7 | find_package(Opus REQUIRED) 8 | 9 | set(PYBIND11_PYTHON_VERSION 3) 10 | set(PYBIND11_CPP_STANDARD -std=c++11) 11 | add_subdirectory(pybind11) 12 | #find_package(pybind11) 13 | 14 | pybind11_add_module(opus_decoder opus_decoder/opus_decoder.cpp) 15 | target_link_libraries(opus_decoder PRIVATE ${OPUS_LIBRARIES}) 16 | target_include_directories(opus_decoder PRIVATE ${OPUS_INCLUDE_DIRS}) 17 | 18 | pybind11_add_module(libh264decoder h264_decoder/h264decoder.cpp) 19 | target_link_libraries(libh264decoder PRIVATE avcodec swscale avutil) 20 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/cmake/FindOpus.cmake: -------------------------------------------------------------------------------- 1 | # 2 | # - Find the opus include file and library 3 | # 4 | # OPUS_FOUND - system has opus 5 | # OPUS_INCLUDE_DIRS - the opus include directory 6 | # OPUS_LIBRARIES - The libraries needed to use opus 7 | 8 | find_path(OPUS_INCLUDE_DIRS 9 | NAMES opus/opus.h 10 | PATH_SUFFIXES include 11 | ) 12 | if(OPUS_INCLUDE_DIRS) 13 | set(HAVE_OPUS_OPUS_H 1) 14 | endif() 15 | 16 | find_library(OPUS_LIBRARIES NAMES opus) 17 | 18 | if(OPUS_LIBRARIES) 19 | find_library(LIBM NAMES m) 20 | if(LIBM) 21 | list(APPEND OPUS_LIBRARIES ${LIBM}) 22 | endif() 23 | endif() 24 | 25 | include(FindPackageHandleStandardArgs) 26 | find_package_handle_standard_args(Opus 27 | DEFAULT_MSG 28 | OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H 29 | ) 30 | 31 | mark_as_advanced(OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H) -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/opus_decoder/opus_decoder.cpp: -------------------------------------------------------------------------------- 1 | #include "opus_decoder.h" 2 | #include 3 | namespace py = pybind11; 4 | PYBIND11_MODULE(opus_decoder, m) { 5 | m.doc()="opus_decoder for pybind11 plugin"; 6 | py::class_ ad(m, "opus_decoder"); 7 | ad.def(py::init(),py::arg("frame_size") = 960, 8 | py::arg("sample_rate") = 48000, py::arg("channels") = 1); 9 | ad.def("decode", &PyOpusDecoder::Decode, "Decode Function",py::arg("in")); 10 | 11 | } -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/MANIFEST.in: -------------------------------------------------------------------------------- 1 | recursive-include include/pybind11 *.h 2 | include LICENSE README.md CONTRIBUTING.md 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/Doxyfile: -------------------------------------------------------------------------------- 1 | PROJECT_NAME = pybind11 2 | INPUT = ../include/pybind11/ 3 | RECURSIVE = YES 4 | 5 | GENERATE_HTML = NO 6 | GENERATE_LATEX = NO 7 | GENERATE_XML = YES 8 | XML_OUTPUT = .build/doxygenxml 9 | XML_PROGRAMLISTING = YES 10 | 11 | MACRO_EXPANSION = YES 12 | EXPAND_ONLY_PREDEF = YES 13 | EXPAND_AS_DEFINED = PYBIND11_RUNTIME_EXCEPTION 14 | 15 | ALIASES = "rst=\verbatim embed:rst" 16 | ALIASES += "endrst=\endverbatim" 17 | 18 | QUIET = YES 19 | WARNINGS = YES 20 | WARN_IF_UNDOCUMENTED = NO 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/_static/theme_overrides.css: -------------------------------------------------------------------------------- 1 | .wy-table-responsive table td, 2 | .wy-table-responsive table th { 3 | white-space: initial !important; 4 | } 5 | .rst-content table.docutils td { 6 | vertical-align: top !important; 7 | } 8 | div[class^='highlight'] pre { 9 | white-space: pre; 10 | white-space: pre-wrap; 11 | } 12 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/advanced/pycpp/index.rst: -------------------------------------------------------------------------------- 1 | Python C++ interface 2 | #################### 3 | 4 | pybind11 exposes Python types and functions using thin C++ wrappers, which 5 | makes it possible to conveniently call Python code from C++ without resorting 6 | to Python's C API. 7 | 8 | .. toctree:: 9 | :maxdepth: 2 10 | 11 | object 12 | numpy 13 | utilities 14 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/index.rst: -------------------------------------------------------------------------------- 1 | .. only: not latex 2 | 3 | .. image:: pybind11-logo.png 4 | 5 | pybind11 --- Seamless operability between C++11 and Python 6 | ========================================================== 7 | 8 | .. only: not latex 9 | 10 | Contents: 11 | 12 | .. toctree:: 13 | :maxdepth: 1 14 | 15 | intro 16 | changelog 17 | upgrade 18 | 19 | .. toctree:: 20 | :caption: The Basics 21 | :maxdepth: 2 22 | 23 | basics 24 | classes 25 | compiling 26 | 27 | .. toctree:: 28 | :caption: Advanced Topics 29 | :maxdepth: 2 30 | 31 | advanced/functions 32 | advanced/classes 33 | advanced/exceptions 34 | advanced/smart_ptrs 35 | advanced/cast/index 36 | advanced/pycpp/index 37 | advanced/embedding 38 | advanced/misc 39 | 40 | .. toctree:: 41 | :caption: Extra Information 42 | :maxdepth: 1 43 | 44 | faq 45 | benchmark 46 | limitations 47 | reference 48 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/limitations.rst: -------------------------------------------------------------------------------- 1 | Limitations 2 | ########### 3 | 4 | pybind11 strives to be a general solution to binding generation, but it also has 5 | certain limitations: 6 | 7 | - pybind11 casts away ``const``-ness in function arguments and return values. 8 | This is in line with the Python language, which has no concept of ``const`` 9 | values. This means that some additional care is needed to avoid bugs that 10 | would be caught by the type checker in a traditional C++ program. 11 | 12 | - The NumPy interface ``pybind11::array`` greatly simplifies accessing 13 | numerical data from C++ (and vice versa), but it's not a full-blown array 14 | class like ``Eigen::Array`` or ``boost.multi_array``. 15 | 16 | These features could be implemented but would lead to a significant increase in 17 | complexity. I've decided to draw the line here to keep this project simple and 18 | compact. Users who absolutely require these features are encouraged to fork 19 | pybind11. 20 | 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11-logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11-logo.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11_vs_boost_python1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11_vs_boost_python1.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11_vs_boost_python2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/pybind11_vs_boost_python2.png -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/release.rst: -------------------------------------------------------------------------------- 1 | To release a new version of pybind11: 2 | 3 | - Update the version number and push to pypi 4 | - Update ``pybind11/_version.py`` (set release version, remove 'dev'). 5 | - Update ``PYBIND11_VERSION_MAJOR`` etc. in ``include/pybind11/detail/common.h``. 6 | - Ensure that all the information in ``setup.py`` is up-to-date. 7 | - Update version in ``docs/conf.py``. 8 | - Tag release date in ``docs/changelog.rst``. 9 | - ``git add`` and ``git commit``. 10 | - if new minor version: ``git checkout -b vX.Y``, ``git push -u origin vX.Y`` 11 | - ``git tag -a vX.Y.Z -m 'vX.Y.Z release'``. 12 | - ``git push`` 13 | - ``git push --tags``. 14 | - ``python setup.py sdist upload``. 15 | - ``python setup.py bdist_wheel upload``. 16 | - Get back to work 17 | - Update ``_version.py`` (add 'dev' and increment minor). 18 | - Update version in ``docs/conf.py`` 19 | - Update version macros in ``include/pybind11/common.h`` 20 | - ``git add`` and ``git commit``. 21 | ``git push`` 22 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/requirements.txt: -------------------------------------------------------------------------------- 1 | breathe == 4.5.0 2 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/include/pybind11/common.h: -------------------------------------------------------------------------------- 1 | #include "detail/common.h" 2 | #warning "Including 'common.h' is deprecated. It will be removed in v3.0. Use 'pybind11.h'." 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/pybind11/__init__.py: -------------------------------------------------------------------------------- 1 | from ._version import version_info, __version__ # noqa: F401 imported but unused 2 | 3 | 4 | def get_include(user=False): 5 | import os 6 | d = os.path.dirname(__file__) 7 | if os.path.exists(os.path.join(d, "include")): 8 | # Package is installed 9 | return os.path.join(d, "include") 10 | else: 11 | # Package is from a source directory 12 | return os.path.join(os.path.dirname(d), "include") 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/pybind11/__main__.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function 2 | 3 | import argparse 4 | import sys 5 | import sysconfig 6 | 7 | from . import get_include 8 | 9 | 10 | def print_includes(): 11 | dirs = [sysconfig.get_path('include'), 12 | sysconfig.get_path('platinclude'), 13 | get_include()] 14 | 15 | # Make unique but preserve order 16 | unique_dirs = [] 17 | for d in dirs: 18 | if d not in unique_dirs: 19 | unique_dirs.append(d) 20 | 21 | print(' '.join('-I' + d for d in unique_dirs)) 22 | 23 | 24 | def main(): 25 | parser = argparse.ArgumentParser(prog='python -m pybind11') 26 | parser.add_argument('--includes', action='store_true', 27 | help='Include flags for both pybind11 and Python headers.') 28 | args = parser.parse_args() 29 | if not sys.argv[1:]: 30 | parser.print_help() 31 | if args.includes: 32 | print_includes() 33 | 34 | 35 | if __name__ == '__main__': 36 | main() 37 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/pybind11/_version.py: -------------------------------------------------------------------------------- 1 | version_info = (2, 4, 'dev4') 2 | __version__ = '.'.join(map(str, version_info)) 3 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/setup.cfg: -------------------------------------------------------------------------------- 1 | [bdist_wheel] 2 | universal=1 3 | 4 | [flake8] 5 | max-line-length = 99 6 | show_source = True 7 | exclude = .git, __pycache__, build, dist, docs, tools, venv 8 | ignore = 9 | # required for pretty matrix formatting: multiple spaces after `,` and `[` 10 | E201, E241, W504, 11 | # camelcase 'cPickle' imported as lowercase 'pickle' 12 | N813 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/cross_module_gil_utils.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/cross_module_gil_utils.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/pybind11_cross_module_tests.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/pybind11_cross_module_tests.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/pybind11_tests.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/pybind11_tests.so -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | minversion = 3.0 3 | norecursedirs = test_cmake_build test_embed 4 | addopts = 5 | # show summary of skipped tests 6 | -rs 7 | # capture only Python print and C++ py::print, but not C output (low-level Python errors) 8 | --capture=sys 9 | filterwarnings = 10 | # make warnings into errors but ignore certain third-party extension issues 11 | error 12 | # importing scipy submodules on some version of Python 13 | ignore::ImportWarning 14 | # bogus numpy ABI warning (see numpy/#432) 15 | ignore:.*numpy.dtype size changed.*:RuntimeWarning 16 | ignore:.*numpy.ufunc size changed.*:RuntimeWarning 17 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_async.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_async.cpp -- __await__ support 3 | 4 | Copyright (c) 2019 Google Inc. 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(async_module, m) { 13 | struct DoesNotSupportAsync {}; 14 | py::class_(m, "DoesNotSupportAsync") 15 | .def(py::init<>()); 16 | struct SupportsAsync {}; 17 | py::class_(m, "SupportsAsync") 18 | .def(py::init<>()) 19 | .def("__await__", [](const SupportsAsync& self) -> py::object { 20 | static_cast(self); 21 | py::object loop = py::module::import("asyncio.events").attr("get_event_loop")(); 22 | py::object f = loop.attr("create_future")(); 23 | f.attr("set_result")(5); 24 | return f.attr("__await__")(); 25 | }); 26 | } 27 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_async.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | import pytest 3 | from pybind11_tests import async_module as m 4 | 5 | 6 | @pytest.fixture 7 | def event_loop(): 8 | loop = asyncio.new_event_loop() 9 | yield loop 10 | loop.close() 11 | 12 | 13 | async def get_await_result(x): 14 | return await x 15 | 16 | 17 | def test_await(event_loop): 18 | assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync())) 19 | 20 | 21 | def test_await_missing(event_loop): 22 | with pytest.raises(TypeError): 23 | event_loop.run_until_complete(get_await_result(m.DoesNotSupportAsync())) 24 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/embed.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | 8 | int main(int argc, char *argv[]) { 9 | if (argc != 2) 10 | throw std::runtime_error("Expected test.py file as the first argument"); 11 | auto test_py_file = argv[1]; 12 | 13 | py::scoped_interpreter guard{}; 14 | 15 | auto m = py::module::import("test_cmake_build"); 16 | if (m.attr("add")(1, 2).cast() != 3) 17 | throw std::runtime_error("embed.cpp failed"); 18 | 19 | py::module::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp"); 20 | py::eval_file(test_py_file, py::globals()); 21 | } 22 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_embed CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | find_package(pybind11 CONFIG REQUIRED) 6 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 7 | 8 | add_executable(test_cmake_build ../embed.cpp) 9 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 10 | 11 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::embed). 12 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 13 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 14 | 15 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 16 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_installed_module CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | pybind11_add_module(test_cmake_build SHARED NO_EXTRAS ../main.cpp) 10 | 11 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 12 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 13 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_target CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | add_library(test_cmake_build MODULE ../main.cpp) 10 | 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 12 | 13 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 14 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 15 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 16 | 17 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::module). 18 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 19 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 20 | 21 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 22 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_embed CXX) 3 | 4 | set(PYBIND11_INSTALL ON CACHE BOOL "") 5 | set(PYBIND11_EXPORT_NAME test_export) 6 | 7 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 8 | 9 | # Test basic target functionality 10 | add_executable(test_cmake_build ../embed.cpp) 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 12 | 13 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 14 | 15 | # Test custom export group -- PYBIND11_EXPORT_NAME 16 | add_library(test_embed_lib ../embed.cpp) 17 | target_link_libraries(test_embed_lib PRIVATE pybind11::embed) 18 | 19 | install(TARGETS test_embed_lib 20 | EXPORT test_export 21 | ARCHIVE DESTINATION bin 22 | LIBRARY DESTINATION lib 23 | RUNTIME DESTINATION lib) 24 | install(EXPORT test_export 25 | DESTINATION lib/cmake/test_export/test_export-Targets.cmake) 26 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_subdirectory_module CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | pybind11_add_module(test_cmake_build THIN_LTO ../main.cpp) 6 | 7 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 8 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 9 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_target CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | 6 | add_library(test_cmake_build MODULE ../main.cpp) 7 | 8 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 9 | 10 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 11 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 12 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 13 | 14 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 15 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 16 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/test.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import test_cmake_build 3 | 4 | assert test_cmake_build.add(1, 2) == 3 5 | print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1])) 6 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_embed/catch.cpp: -------------------------------------------------------------------------------- 1 | // The Catch implementation is compiled here. This is a standalone 2 | // translation unit to avoid recompiling it for every test change. 3 | 4 | #include 5 | 6 | #ifdef _MSC_VER 7 | // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch 8 | // 2.0.1; this should be fixed in the next catch release after 2.0.1). 9 | # pragma warning(disable: 4996) 10 | #endif 11 | 12 | #define CATCH_CONFIG_RUNNER 13 | #include 14 | 15 | namespace py = pybind11; 16 | 17 | int main(int argc, char *argv[]) { 18 | py::scoped_interpreter guard{}; 19 | auto result = Catch::Session().run(argc, argv); 20 | 21 | return result < 0xff ? result : 0xff; 22 | } 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_embed/external_module.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace py = pybind11; 4 | 5 | /* Simple test module/test class to check that the referenced internals data of external pybind11 6 | * modules aren't preserved over a finalize/initialize. 7 | */ 8 | 9 | PYBIND11_MODULE(external_module, m) { 10 | class A { 11 | public: 12 | A(int value) : v{value} {}; 13 | int v; 14 | }; 15 | 16 | py::class_(m, "A") 17 | .def(py::init()) 18 | .def_readwrite("value", &A::v); 19 | 20 | m.def("internals_at", []() { 21 | return reinterpret_cast(&py::detail::get_internals()); 22 | }); 23 | } 24 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_embed/test_interpreter.py: -------------------------------------------------------------------------------- 1 | from widget_module import Widget 2 | 3 | 4 | class DerivedWidget(Widget): 5 | def __init__(self, message): 6 | super(DerivedWidget, self).__init__(message) 7 | 8 | def the_answer(self): 9 | return 42 10 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_eval.py: -------------------------------------------------------------------------------- 1 | import os 2 | from pybind11_tests import eval_ as m 3 | 4 | 5 | def test_evals(capture): 6 | with capture: 7 | assert m.test_eval_statements() 8 | assert capture == "Hello World!" 9 | 10 | assert m.test_eval() 11 | assert m.test_eval_single_statement() 12 | 13 | filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py") 14 | assert m.test_eval_file(filename) 15 | 16 | assert m.test_eval_failure() 17 | assert m.test_eval_file_failure() 18 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_eval_call.py: -------------------------------------------------------------------------------- 1 | # This file is called from 'test_eval.py' 2 | 3 | if 'call_test2' in locals(): 4 | call_test2(y) # noqa: F821 undefined name 5 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_tagbased_polymorphic.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import tagbased_polymorphic as m 2 | 3 | 4 | def test_downcast(): 5 | zoo = m.create_zoo() 6 | assert [type(animal) for animal in zoo] == [ 7 | m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther 8 | ] 9 | assert [animal.name for animal in zoo] == [ 10 | "Fido", "Ginger", "Hertzl", "Tiger", "Leo" 11 | ] 12 | zoo[1].sound = "woooooo" 13 | assert [dog.bark() for dog in zoo[:3]] == [ 14 | "Labrador Fido goes WOOF!", 15 | "Dog Ginger goes woooooo", 16 | "Chihuahua Hertzl goes iyiyiyiyiyi and runs in circles" 17 | ] 18 | assert [cat.purr() for cat in zoo[3:]] == ["mrowr", "mrrrRRRRRR"] 19 | zoo[0].excitement -= 1000 20 | assert zoo[0].excitement == 14000 21 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_union.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_class.cpp -- test py::class_ definitions and basic functionality 3 | 4 | Copyright (c) 2019 Roland Dreier 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(union_, m) { 13 | union TestUnion { 14 | int value_int; 15 | unsigned value_uint; 16 | }; 17 | 18 | py::class_(m, "TestUnion") 19 | .def(py::init<>()) 20 | .def_readonly("as_int", &TestUnion::value_int) 21 | .def_readwrite("as_uint", &TestUnion::value_uint); 22 | } 23 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_union.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import union_ as m 2 | 3 | 4 | def test_union(): 5 | instance = m.TestUnion() 6 | 7 | instance.as_uint = 10 8 | assert instance.as_int == 10 9 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tools/libsize.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function, division 2 | import os 3 | import sys 4 | 5 | # Internal build script for generating debugging test .so size. 6 | # Usage: 7 | # python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the 8 | # size in it, then overwrites save.txt with the new size for future runs. 9 | 10 | if len(sys.argv) != 3: 11 | sys.exit("Invalid arguments: usage: python libsize.py file.so save.txt") 12 | 13 | lib = sys.argv[1] 14 | save = sys.argv[2] 15 | 16 | if not os.path.exists(lib): 17 | sys.exit("Error: requested file ({}) does not exist".format(lib)) 18 | 19 | libsize = os.path.getsize(lib) 20 | 21 | print("------", os.path.basename(lib), "file size:", libsize, end='') 22 | 23 | if os.path.exists(save): 24 | with open(save) as sf: 25 | oldsize = int(sf.readline()) 26 | 27 | if oldsize > 0: 28 | change = libsize - oldsize 29 | if change == 0: 30 | print(" (no change)") 31 | else: 32 | print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize)) 33 | else: 34 | print() 35 | 36 | with open(save, 'w') as sf: 37 | sf.write(str(libsize)) 38 | 39 | -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp36-cp36m-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp36-cp36m-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp37-cp37m-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp37-cp37m-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp38-cp38-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1-cp38-cp38-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/libh264decoder/libh264decoder-0.0.1.tar.gz -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp36-cp36m-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp36-cp36m-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp37-cp37m-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp37-cp37m-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp38-cp38-win_amd64.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1-cp38-cp38-win_amd64.whl -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/windows/opus_decoder/opus_decoder-0.0.1.tar.gz -------------------------------------------------------------------------------- /examples/plaintext_sample_code/RoboMasterEP/stream/python_stream_liveview/README.md: -------------------------------------------------------------------------------- 1 | # Description: 2 | 3 | A python script that implements video and audio display, based on python3 4 | 5 | # Denpendent toolchian and library: 6 | 7 | - h264decoder 8 | - opusdecoder 9 | - python3-pyaudio, python3-numpy, opencv-python 10 | 11 | # Installation(ubuntu): 12 | 13 | 1. build in ../decoder 14 | 2. $ sudo apt-get install python3-pyaudio python3-numpy 15 | 3. $ sudo pip3 install opencv-python 16 | 17 | # Running: 18 | 19 | 1. python3 liveview.py 20 | -------------------------------------------------------------------------------- /lib/libmedia_codec/.gitignore: -------------------------------------------------------------------------------- 1 | output 2 | dist 3 | build 4 | libmedia_codec.egg-info -------------------------------------------------------------------------------- /lib/libmedia_codec/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.4.1) 2 | project (robomaster_media_codec) 3 | set(CMAKE_CXX_STANDARD 11) 4 | set(CMAKE_BUILD_TYPE Release) 5 | SET(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/output) 6 | 7 | set(PYBIND11_PYTHON_VERSION 3) 8 | add_subdirectory(pybind11) 9 | 10 | pybind11_add_module(libmedia_codec src/media_codec.cpp) 11 | 12 | IF (CMAKE_SYSTEM_NAME MATCHES "Windows") 13 | SET(OPUS_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/src/opus-share/include") 14 | SET(OPUS_LIBRARIES "${CMAKE_SOURCE_DIR}/src/opus-share/lib/opus.lib") 15 | SET(FFMEPG_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/src/ffmpeg-4.2.2-win64-dev/include") 16 | SET(FFMEPG_LIBRARIES_PATH "${CMAKE_SOURCE_DIR}/src/ffmpeg-4.2.2-win64-dev/lib") 17 | target_link_libraries(libmedia_codec PRIVATE 18 | ${FFMEPG_LIBRARIES_PATH}/avcodec.lib 19 | ${FFMEPG_LIBRARIES_PATH}/swscale.lib 20 | ${FFMEPG_LIBRARIES_PATH}/avutil.lib 21 | ${OPUS_LIBRARIES}) 22 | target_include_directories(libmedia_codec PRIVATE 23 | ${FFMEPG_INCLUDE_DIRS} 24 | ${OPUS_INCLUDE_DIRS}) 25 | ELSE () 26 | target_link_libraries(libmedia_codec PRIVATE opus avcodec swscale avutil) 27 | ENDIF (CMAKE_SYSTEM_NAME MATCHES "Windows") 28 | -------------------------------------------------------------------------------- /lib/libmedia_codec/MANIFEST.in: -------------------------------------------------------------------------------- 1 | include README.md LICENSE 2 | global-include CMakeLists.txt *.cmake 3 | recursive-include src * 4 | recursive-include pybind11/include *.h 5 | -------------------------------------------------------------------------------- /lib/libmedia_codec/cmake/FindOpus.cmake: -------------------------------------------------------------------------------- 1 | # 2 | # - Find the opus include file and library 3 | # 4 | # OPUS_FOUND - system has opus 5 | # OPUS_INCLUDE_DIRS - the opus include directory 6 | # OPUS_LIBRARIES - The libraries needed to use opus 7 | 8 | find_path(OPUS_INCLUDE_DIRS 9 | NAMES opus/opus.h 10 | PATH_SUFFIXES include 11 | ) 12 | if(OPUS_INCLUDE_DIRS) 13 | set(HAVE_OPUS_OPUS_H 1) 14 | endif() 15 | 16 | find_library(OPUS_LIBRARIES NAMES opus) 17 | 18 | if(OPUS_LIBRARIES) 19 | find_library(LIBM NAMES m) 20 | if(LIBM) 21 | list(APPEND OPUS_LIBRARIES ${LIBM}) 22 | endif() 23 | endif() 24 | 25 | include(FindPackageHandleStandardArgs) 26 | find_package_handle_standard_args(Opus 27 | DEFAULT_MSG 28 | OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H 29 | ) 30 | 31 | mark_as_advanced(OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H) -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/MANIFEST.in: -------------------------------------------------------------------------------- 1 | recursive-include include/pybind11 *.h 2 | include LICENSE README.md CONTRIBUTING.md 3 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/Doxyfile: -------------------------------------------------------------------------------- 1 | PROJECT_NAME = pybind11 2 | INPUT = ../include/pybind11/ 3 | RECURSIVE = YES 4 | 5 | GENERATE_HTML = NO 6 | GENERATE_LATEX = NO 7 | GENERATE_XML = YES 8 | XML_OUTPUT = .build/doxygenxml 9 | XML_PROGRAMLISTING = YES 10 | 11 | MACRO_EXPANSION = YES 12 | EXPAND_ONLY_PREDEF = YES 13 | EXPAND_AS_DEFINED = PYBIND11_RUNTIME_EXCEPTION 14 | 15 | ALIASES = "rst=\verbatim embed:rst" 16 | ALIASES += "endrst=\endverbatim" 17 | 18 | QUIET = YES 19 | WARNINGS = YES 20 | WARN_IF_UNDOCUMENTED = NO 21 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/_static/theme_overrides.css: -------------------------------------------------------------------------------- 1 | .wy-table-responsive table td, 2 | .wy-table-responsive table th { 3 | white-space: initial !important; 4 | } 5 | .rst-content table.docutils td { 6 | vertical-align: top !important; 7 | } 8 | div[class^='highlight'] pre { 9 | white-space: pre; 10 | white-space: pre-wrap; 11 | } 12 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/advanced/pycpp/index.rst: -------------------------------------------------------------------------------- 1 | Python C++ interface 2 | #################### 3 | 4 | pybind11 exposes Python types and functions using thin C++ wrappers, which 5 | makes it possible to conveniently call Python code from C++ without resorting 6 | to Python's C API. 7 | 8 | .. toctree:: 9 | :maxdepth: 2 10 | 11 | object 12 | numpy 13 | utilities 14 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/index.rst: -------------------------------------------------------------------------------- 1 | .. only: not latex 2 | 3 | .. image:: pybind11-logo.png 4 | 5 | pybind11 --- Seamless operability between C++11 and Python 6 | ========================================================== 7 | 8 | .. only: not latex 9 | 10 | Contents: 11 | 12 | .. toctree:: 13 | :maxdepth: 1 14 | 15 | intro 16 | changelog 17 | upgrade 18 | 19 | .. toctree:: 20 | :caption: The Basics 21 | :maxdepth: 2 22 | 23 | basics 24 | classes 25 | compiling 26 | 27 | .. toctree:: 28 | :caption: Advanced Topics 29 | :maxdepth: 2 30 | 31 | advanced/functions 32 | advanced/classes 33 | advanced/exceptions 34 | advanced/smart_ptrs 35 | advanced/cast/index 36 | advanced/pycpp/index 37 | advanced/embedding 38 | advanced/misc 39 | 40 | .. toctree:: 41 | :caption: Extra Information 42 | :maxdepth: 1 43 | 44 | faq 45 | benchmark 46 | limitations 47 | reference 48 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/limitations.rst: -------------------------------------------------------------------------------- 1 | Limitations 2 | ########### 3 | 4 | pybind11 strives to be a general solution to binding generation, but it also has 5 | certain limitations: 6 | 7 | - pybind11 casts away ``const``-ness in function arguments and return values. 8 | This is in line with the Python language, which has no concept of ``const`` 9 | values. This means that some additional care is needed to avoid bugs that 10 | would be caught by the type checker in a traditional C++ program. 11 | 12 | - The NumPy interface ``pybind11::array`` greatly simplifies accessing 13 | numerical data from C++ (and vice versa), but it's not a full-blown array 14 | class like ``Eigen::Array`` or ``boost.multi_array``. 15 | 16 | These features could be implemented but would lead to a significant increase in 17 | complexity. I've decided to draw the line here to keep this project simple and 18 | compact. Users who absolutely require these features are encouraged to fork 19 | pybind11. 20 | 21 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/pybind11-logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/pybind11/docs/pybind11-logo.png -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/pybind11_vs_boost_python1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/pybind11/docs/pybind11_vs_boost_python1.png -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/pybind11_vs_boost_python2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/pybind11/docs/pybind11_vs_boost_python2.png -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/release.rst: -------------------------------------------------------------------------------- 1 | To release a new version of pybind11: 2 | 3 | - Update the version number and push to pypi 4 | - Update ``pybind11/_version.py`` (set release version, remove 'dev'). 5 | - Update ``PYBIND11_VERSION_MAJOR`` etc. in ``include/pybind11/detail/common.h``. 6 | - Ensure that all the information in ``setup.py`` is up-to-date. 7 | - Update version in ``docs/conf.py``. 8 | - Tag release date in ``docs/changelog.rst``. 9 | - ``git add`` and ``git commit``. 10 | - if new minor version: ``git checkout -b vX.Y``, ``git push -u origin vX.Y`` 11 | - ``git tag -a vX.Y.Z -m 'vX.Y.Z release'``. 12 | - ``git push`` 13 | - ``git push --tags``. 14 | - ``python setup.py sdist upload``. 15 | - ``python setup.py bdist_wheel upload``. 16 | - Get back to work 17 | - Update ``_version.py`` (add 'dev' and increment minor). 18 | - Update version in ``docs/conf.py`` 19 | - Update version macros in ``include/pybind11/common.h`` 20 | - ``git add`` and ``git commit``. 21 | ``git push`` 22 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/docs/requirements.txt: -------------------------------------------------------------------------------- 1 | breathe == 4.5.0 2 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/include/pybind11/common.h: -------------------------------------------------------------------------------- 1 | #include "detail/common.h" 2 | #warning "Including 'common.h' is deprecated. It will be removed in v3.0. Use 'pybind11.h'." 3 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/pybind11/__init__.py: -------------------------------------------------------------------------------- 1 | from ._version import version_info, __version__ # noqa: F401 imported but unused 2 | 3 | 4 | def get_include(user=False): 5 | import os 6 | d = os.path.dirname(__file__) 7 | if os.path.exists(os.path.join(d, "include")): 8 | # Package is installed 9 | return os.path.join(d, "include") 10 | else: 11 | # Package is from a source directory 12 | return os.path.join(os.path.dirname(d), "include") 13 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/pybind11/__main__.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function 2 | 3 | import argparse 4 | import sys 5 | import sysconfig 6 | 7 | from . import get_include 8 | 9 | 10 | def print_includes(): 11 | dirs = [sysconfig.get_path('include'), 12 | sysconfig.get_path('platinclude'), 13 | get_include()] 14 | 15 | # Make unique but preserve order 16 | unique_dirs = [] 17 | for d in dirs: 18 | if d not in unique_dirs: 19 | unique_dirs.append(d) 20 | 21 | print(' '.join('-I' + d for d in unique_dirs)) 22 | 23 | 24 | def main(): 25 | parser = argparse.ArgumentParser(prog='python -m pybind11') 26 | parser.add_argument('--includes', action='store_true', 27 | help='Include flags for both pybind11 and Python headers.') 28 | args = parser.parse_args() 29 | if not sys.argv[1:]: 30 | parser.print_help() 31 | if args.includes: 32 | print_includes() 33 | 34 | 35 | if __name__ == '__main__': 36 | main() 37 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/pybind11/_version.py: -------------------------------------------------------------------------------- 1 | version_info = (2, 4, 'dev4') 2 | __version__ = '.'.join(map(str, version_info)) 3 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/setup.cfg: -------------------------------------------------------------------------------- 1 | [bdist_wheel] 2 | universal=1 3 | 4 | [flake8] 5 | max-line-length = 99 6 | show_source = True 7 | exclude = .git, __pycache__, build, dist, docs, tools, venv 8 | ignore = 9 | # required for pretty matrix formatting: multiple spaces after `,` and `[` 10 | E201, E241, W504, 11 | # camelcase 'cPickle' imported as lowercase 'pickle' 12 | N813 13 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | minversion = 3.0 3 | norecursedirs = test_cmake_build test_embed 4 | addopts = 5 | # show summary of skipped tests 6 | -rs 7 | # capture only Python print and C++ py::print, but not C output (low-level Python errors) 8 | --capture=sys 9 | filterwarnings = 10 | # make warnings into errors but ignore certain third-party extension issues 11 | error 12 | # importing scipy submodules on some version of Python 13 | ignore::ImportWarning 14 | # bogus numpy ABI warning (see numpy/#432) 15 | ignore:.*numpy.dtype size changed.*:RuntimeWarning 16 | ignore:.*numpy.ufunc size changed.*:RuntimeWarning 17 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_async.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_async.cpp -- __await__ support 3 | 4 | Copyright (c) 2019 Google Inc. 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(async_module, m) { 13 | struct DoesNotSupportAsync {}; 14 | py::class_(m, "DoesNotSupportAsync") 15 | .def(py::init<>()); 16 | struct SupportsAsync {}; 17 | py::class_(m, "SupportsAsync") 18 | .def(py::init<>()) 19 | .def("__await__", [](const SupportsAsync& self) -> py::object { 20 | static_cast(self); 21 | py::object loop = py::module::import("asyncio.events").attr("get_event_loop")(); 22 | py::object f = loop.attr("create_future")(); 23 | f.attr("set_result")(5); 24 | return f.attr("__await__")(); 25 | }); 26 | } 27 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_async.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | import pytest 3 | from pybind11_tests import async_module as m 4 | 5 | 6 | @pytest.fixture 7 | def event_loop(): 8 | loop = asyncio.new_event_loop() 9 | yield loop 10 | loop.close() 11 | 12 | 13 | async def get_await_result(x): 14 | return await x 15 | 16 | 17 | def test_await(event_loop): 18 | assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync())) 19 | 20 | 21 | def test_await_missing(event_loop): 22 | with pytest.raises(TypeError): 23 | event_loop.run_until_complete(get_await_result(m.DoesNotSupportAsync())) 24 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/embed.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | 8 | int main(int argc, char *argv[]) { 9 | if (argc != 2) 10 | throw std::runtime_error("Expected test.py file as the first argument"); 11 | auto test_py_file = argv[1]; 12 | 13 | py::scoped_interpreter guard{}; 14 | 15 | auto m = py::module::import("test_cmake_build"); 16 | if (m.attr("add")(1, 2).cast() != 3) 17 | throw std::runtime_error("embed.cpp failed"); 18 | 19 | py::module::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp"); 20 | py::eval_file(test_py_file, py::globals()); 21 | } 22 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_embed CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | find_package(pybind11 CONFIG REQUIRED) 6 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 7 | 8 | add_executable(test_cmake_build ../embed.cpp) 9 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 10 | 11 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::embed). 12 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 13 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 14 | 15 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 16 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_installed_module CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | pybind11_add_module(test_cmake_build SHARED NO_EXTRAS ../main.cpp) 10 | 11 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 12 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 13 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_installed_target CXX) 3 | 4 | set(CMAKE_MODULE_PATH "") 5 | 6 | find_package(pybind11 CONFIG REQUIRED) 7 | message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") 8 | 9 | add_library(test_cmake_build MODULE ../main.cpp) 10 | 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 12 | 13 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 14 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 15 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 16 | 17 | # Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::module). 18 | # This may be needed to resolve header conflicts, e.g. between Python release and debug headers. 19 | set_target_properties(test_cmake_build PROPERTIES NO_SYSTEM_FROM_IMPORTED ON) 20 | 21 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 22 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 23 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | namespace py = pybind11; 3 | 4 | PYBIND11_MODULE(test_cmake_build, m) { 5 | m.def("add", [](int i, int j) { return i + j; }); 6 | } 7 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_embed CXX) 3 | 4 | set(PYBIND11_INSTALL ON CACHE BOOL "") 5 | set(PYBIND11_EXPORT_NAME test_export) 6 | 7 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 8 | 9 | # Test basic target functionality 10 | add_executable(test_cmake_build ../embed.cpp) 11 | target_link_libraries(test_cmake_build PRIVATE pybind11::embed) 12 | 13 | add_custom_target(check $ ${PROJECT_SOURCE_DIR}/../test.py) 14 | 15 | # Test custom export group -- PYBIND11_EXPORT_NAME 16 | add_library(test_embed_lib ../embed.cpp) 17 | target_link_libraries(test_embed_lib PRIVATE pybind11::embed) 18 | 19 | install(TARGETS test_embed_lib 20 | EXPORT test_export 21 | ARCHIVE DESTINATION bin 22 | LIBRARY DESTINATION lib 23 | RUNTIME DESTINATION lib) 24 | install(EXPORT test_export 25 | DESTINATION lib/cmake/test_export/test_export-Targets.cmake) 26 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.12) 2 | project(test_subdirectory_module CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | pybind11_add_module(test_cmake_build THIN_LTO ../main.cpp) 6 | 7 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 8 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 9 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0) 2 | project(test_subdirectory_target CXX) 3 | 4 | add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11) 5 | 6 | add_library(test_cmake_build MODULE ../main.cpp) 7 | 8 | target_link_libraries(test_cmake_build PRIVATE pybind11::module) 9 | 10 | # make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib 11 | set_target_properties(test_cmake_build PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}" 12 | SUFFIX "${PYTHON_MODULE_EXTENSION}") 13 | 14 | add_custom_target(check ${CMAKE_COMMAND} -E env PYTHONPATH=$ 15 | ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/../test.py ${PROJECT_NAME}) 16 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_cmake_build/test.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import test_cmake_build 3 | 4 | assert test_cmake_build.add(1, 2) == 3 5 | print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1])) 6 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_embed/catch.cpp: -------------------------------------------------------------------------------- 1 | // The Catch implementation is compiled here. This is a standalone 2 | // translation unit to avoid recompiling it for every test change. 3 | 4 | #include 5 | 6 | #ifdef _MSC_VER 7 | // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch 8 | // 2.0.1; this should be fixed in the next catch release after 2.0.1). 9 | # pragma warning(disable: 4996) 10 | #endif 11 | 12 | #define CATCH_CONFIG_RUNNER 13 | #include 14 | 15 | namespace py = pybind11; 16 | 17 | int main(int argc, char *argv[]) { 18 | py::scoped_interpreter guard{}; 19 | auto result = Catch::Session().run(argc, argv); 20 | 21 | return result < 0xff ? result : 0xff; 22 | } 23 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_embed/external_module.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace py = pybind11; 4 | 5 | /* Simple test module/test class to check that the referenced internals data of external pybind11 6 | * modules aren't preserved over a finalize/initialize. 7 | */ 8 | 9 | PYBIND11_MODULE(external_module, m) { 10 | class A { 11 | public: 12 | A(int value) : v{value} {}; 13 | int v; 14 | }; 15 | 16 | py::class_(m, "A") 17 | .def(py::init()) 18 | .def_readwrite("value", &A::v); 19 | 20 | m.def("internals_at", []() { 21 | return reinterpret_cast(&py::detail::get_internals()); 22 | }); 23 | } 24 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_embed/test_interpreter.py: -------------------------------------------------------------------------------- 1 | from widget_module import Widget 2 | 3 | 4 | class DerivedWidget(Widget): 5 | def __init__(self, message): 6 | super(DerivedWidget, self).__init__(message) 7 | 8 | def the_answer(self): 9 | return 42 10 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_eval.py: -------------------------------------------------------------------------------- 1 | import os 2 | from pybind11_tests import eval_ as m 3 | 4 | 5 | def test_evals(capture): 6 | with capture: 7 | assert m.test_eval_statements() 8 | assert capture == "Hello World!" 9 | 10 | assert m.test_eval() 11 | assert m.test_eval_single_statement() 12 | 13 | filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py") 14 | assert m.test_eval_file(filename) 15 | 16 | assert m.test_eval_failure() 17 | assert m.test_eval_file_failure() 18 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_eval_call.py: -------------------------------------------------------------------------------- 1 | # This file is called from 'test_eval.py' 2 | 3 | if 'call_test2' in locals(): 4 | call_test2(y) # noqa: F821 undefined name 5 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_pickling.py: -------------------------------------------------------------------------------- 1 | import pytest 2 | from pybind11_tests import pickling as m 3 | 4 | try: 5 | import cPickle as pickle # Use cPickle on Python 2.7 6 | except ImportError: 7 | import pickle 8 | 9 | 10 | @pytest.mark.parametrize("cls_name", ["Pickleable", "PickleableNew"]) 11 | def test_roundtrip(cls_name): 12 | cls = getattr(m, cls_name) 13 | p = cls("test_value") 14 | p.setExtra1(15) 15 | p.setExtra2(48) 16 | 17 | data = pickle.dumps(p, 2) # Must use pickle protocol >= 2 18 | p2 = pickle.loads(data) 19 | assert p2.value() == p.value() 20 | assert p2.extra1() == p.extra1() 21 | assert p2.extra2() == p.extra2() 22 | 23 | 24 | @pytest.unsupported_on_pypy 25 | @pytest.mark.parametrize("cls_name", ["PickleableWithDict", "PickleableWithDictNew"]) 26 | def test_roundtrip_with_dict(cls_name): 27 | cls = getattr(m, cls_name) 28 | p = cls("test_value") 29 | p.extra = 15 30 | p.dynamic = "Attribute" 31 | 32 | data = pickle.dumps(p, pickle.HIGHEST_PROTOCOL) 33 | p2 = pickle.loads(data) 34 | assert p2.value == p.value 35 | assert p2.extra == p.extra 36 | assert p2.dynamic == p.dynamic 37 | 38 | 39 | def test_enum_pickle(): 40 | from pybind11_tests import enums as e 41 | data = pickle.dumps(e.EOne, 2) 42 | assert e.EOne == pickle.loads(data) 43 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_tagbased_polymorphic.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import tagbased_polymorphic as m 2 | 3 | 4 | def test_downcast(): 5 | zoo = m.create_zoo() 6 | assert [type(animal) for animal in zoo] == [ 7 | m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther 8 | ] 9 | assert [animal.name for animal in zoo] == [ 10 | "Fido", "Ginger", "Hertzl", "Tiger", "Leo" 11 | ] 12 | zoo[1].sound = "woooooo" 13 | assert [dog.bark() for dog in zoo[:3]] == [ 14 | "Labrador Fido goes WOOF!", 15 | "Dog Ginger goes woooooo", 16 | "Chihuahua Hertzl goes iyiyiyiyiyi and runs in circles" 17 | ] 18 | assert [cat.purr() for cat in zoo[3:]] == ["mrowr", "mrrrRRRRRR"] 19 | zoo[0].excitement -= 1000 20 | assert zoo[0].excitement == 14000 21 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_union.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | tests/test_class.cpp -- test py::class_ definitions and basic functionality 3 | 4 | Copyright (c) 2019 Roland Dreier 5 | 6 | All rights reserved. Use of this source code is governed by a 7 | BSD-style license that can be found in the LICENSE file. 8 | */ 9 | 10 | #include "pybind11_tests.h" 11 | 12 | TEST_SUBMODULE(union_, m) { 13 | union TestUnion { 14 | int value_int; 15 | unsigned value_uint; 16 | }; 17 | 18 | py::class_(m, "TestUnion") 19 | .def(py::init<>()) 20 | .def_readonly("as_int", &TestUnion::value_int) 21 | .def_readwrite("as_uint", &TestUnion::value_uint); 22 | } 23 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tests/test_union.py: -------------------------------------------------------------------------------- 1 | from pybind11_tests import union_ as m 2 | 3 | 4 | def test_union(): 5 | instance = m.TestUnion() 6 | 7 | instance.as_uint = 10 8 | assert instance.as_int == 10 9 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pybind11/tools/libsize.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function, division 2 | import os 3 | import sys 4 | 5 | # Internal build script for generating debugging test .so size. 6 | # Usage: 7 | # python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the 8 | # size in it, then overwrites save.txt with the new size for future runs. 9 | 10 | if len(sys.argv) != 3: 11 | sys.exit("Invalid arguments: usage: python libsize.py file.so save.txt") 12 | 13 | lib = sys.argv[1] 14 | save = sys.argv[2] 15 | 16 | if not os.path.exists(lib): 17 | sys.exit("Error: requested file ({}) does not exist".format(lib)) 18 | 19 | libsize = os.path.getsize(lib) 20 | 21 | print("------", os.path.basename(lib), "file size:", libsize, end='') 22 | 23 | if os.path.exists(save): 24 | with open(save) as sf: 25 | oldsize = int(sf.readline()) 26 | 27 | if oldsize > 0: 28 | change = libsize - oldsize 29 | if change == 0: 30 | print(" (no change)") 31 | else: 32 | print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize)) 33 | else: 34 | print() 35 | 36 | with open(save, 'w') as sf: 37 | sf.write(str(libsize)) 38 | 39 | -------------------------------------------------------------------------------- /lib/libmedia_codec/pyproject.toml: -------------------------------------------------------------------------------- 1 | [build-system] 2 | requires = ["setuptools", "wheel", "cmake>=3.1.0", "pybind11"] 3 | -------------------------------------------------------------------------------- /lib/libmedia_codec/script/build.bat: -------------------------------------------------------------------------------- 1 | cd %~dp0/.. 2 | del /s /q build 3 | del /s /q dist 4 | del /s /q output 5 | del /s /q robomaster_media_decoder.egg-info 6 | rmdir /s /q build 7 | rmdir /s /q dist 8 | rmdir /s /q output 9 | rmdir /s /q robomaster_media_decoder.egg-info 10 | python setup.py build 11 | python setup.py bdist_wheel 12 | -------------------------------------------------------------------------------- /lib/libmedia_codec/script/build.sh: -------------------------------------------------------------------------------- 1 | basepath=$(cd `dirname $0`; pwd) 2 | cd $basepath 3 | cd .. 4 | rm -rf build dist output robomaster_media_decoder.egg-info 5 | 6 | /opt/python/cp36-cp36m/bin/python setup.py build 7 | /opt/python/cp36-cp36m/bin/python setup.py bdist_wheel 8 | /opt/python/cp36-cp36m/bin/auditwheel repair ./dist/`ls ./dist |grep cp36-cp36m` 9 | 10 | rm -rf build dist output robomaster_media_decoder.egg-info 11 | /opt/python/cp37-cp37m/bin/python setup.py build 12 | /opt/python/cp37-cp37m/bin/python setup.py bdist_wheel 13 | /opt/python/cp37-cp37m/bin/auditwheel repair ./dist/`ls ./dist |grep cp37-cp37m` 14 | 15 | rm -rf build dist output robomaster_media_decoder.egg-info 16 | /opt/python/cp38-cp38/bin/python setup.py build 17 | /opt/python/cp38-cp38/bin/python setup.py bdist_wheel 18 | /opt/python/cp38-cp38/bin/auditwheel repair ./dist/`ls ./dist |grep cp38-cp38` 19 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/examples/README: -------------------------------------------------------------------------------- 1 | FFmpeg examples README 2 | ---------------------- 3 | 4 | Both following use cases rely on pkg-config and make, thus make sure 5 | that you have them installed and working on your system. 6 | 7 | 8 | Method 1: build the installed examples in a generic read/write user directory 9 | 10 | Copy to a read/write user directory and just use "make", it will link 11 | to the libraries on your system, assuming the PKG_CONFIG_PATH is 12 | correctly configured. 13 | 14 | Method 2: build the examples in-tree 15 | 16 | Assuming you are in the source FFmpeg checkout directory, you need to build 17 | FFmpeg (no need to make install in any prefix). Then just run "make examples". 18 | This will build the examples using the FFmpeg build system. You can clean those 19 | examples using "make examplesclean" 20 | 21 | If you want to try the dedicated Makefile examples (to emulate the first 22 | method), go into doc/examples and run a command such as 23 | PKG_CONFIG_PATH=pc-uninstalled make. 24 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/include/libavutil/avconfig.h: -------------------------------------------------------------------------------- 1 | /* Generated by ffmpeg configure */ 2 | #ifndef AVUTIL_AVCONFIG_H 3 | #define AVUTIL_AVCONFIG_H 4 | #define AV_HAVE_BIGENDIAN 0 5 | #define AV_HAVE_FAST_UNALIGNED 1 6 | #endif /* AVUTIL_AVCONFIG_H */ 7 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/include/libavutil/ffversion.h: -------------------------------------------------------------------------------- 1 | /* Automatically generated by version.sh, do not manually edit! */ 2 | #ifndef AVUTIL_FFVERSION_H 3 | #define AVUTIL_FFVERSION_H 4 | #define FFMPEG_VERSION "4.2.2" 5 | #endif /* AVUTIL_FFVERSION_H */ 6 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/avdevice-58.def: -------------------------------------------------------------------------------- 1 | EXPORTS 2 | av_device_capabilities 3 | av_device_ffversion 4 | av_input_audio_device_next 5 | av_input_video_device_next 6 | av_output_audio_device_next 7 | av_output_video_device_next 8 | avdevice_app_to_dev_control_message 9 | avdevice_capabilities_create 10 | avdevice_capabilities_free 11 | avdevice_configuration 12 | avdevice_dev_to_app_control_message 13 | avdevice_free_list_devices 14 | avdevice_license 15 | avdevice_list_devices 16 | avdevice_list_input_sources 17 | avdevice_list_output_sinks 18 | avdevice_register_all 19 | avdevice_version 20 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavcodec.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavcodec.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavdevice.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavdevice.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavfilter.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavfilter.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavformat.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavformat.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavutil.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libavutil.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libswresample.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libswresample.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libswscale.dll.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/libswscale.dll.a -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/swresample-3.def: -------------------------------------------------------------------------------- 1 | EXPORTS 2 | swr_alloc 3 | swr_alloc_set_opts 4 | swr_build_matrix 5 | swr_close 6 | swr_config_frame 7 | swr_convert 8 | swr_convert_frame 9 | swr_drop_output 10 | swr_ffversion 11 | swr_free 12 | swr_get_class 13 | swr_get_delay 14 | swr_get_out_samples 15 | swr_init 16 | swr_inject_silence 17 | swr_is_initialized 18 | swr_next_pts 19 | swr_set_channel_mapping 20 | swr_set_compensation 21 | swr_set_matrix 22 | swresample_configuration 23 | swresample_license 24 | swresample_version 25 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/ffmpeg-4.2.2-win64-dev/lib/swscale-5.def: -------------------------------------------------------------------------------- 1 | EXPORTS 2 | sws_addVec 3 | sws_allocVec 4 | sws_alloc_context 5 | sws_alloc_set_opts 6 | sws_cloneVec 7 | sws_convVec 8 | sws_convertPalette8ToPacked24 9 | sws_convertPalette8ToPacked32 10 | sws_freeContext 11 | sws_freeFilter 12 | sws_freeVec 13 | sws_getCachedContext 14 | sws_getCoefficients 15 | sws_getColorspaceDetails 16 | sws_getConstVec 17 | sws_getContext 18 | sws_getDefaultFilter 19 | sws_getGaussianVec 20 | sws_getIdentityVec 21 | sws_get_class 22 | sws_init_context 23 | sws_isSupportedEndiannessConversion 24 | sws_isSupportedInput 25 | sws_isSupportedOutput 26 | sws_normalizeVec 27 | sws_printVec2 28 | sws_scale 29 | sws_scaleVec 30 | sws_setColorspaceDetails 31 | sws_shiftVec 32 | sws_subVec 33 | swscale_configuration 34 | swscale_license 35 | swscale_version 36 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/media_codec.cpp: -------------------------------------------------------------------------------- 1 | #include "media_codec.h" 2 | #include 3 | 4 | namespace py = pybind11; 5 | PYBIND11_MODULE(libmedia_codec, m) { 6 | m.doc()="RoboMaster Media Codec library for H264 and Opus stream using pybind11"; 7 | #ifdef VERSION_INFO 8 | m.attr("__version__") = VERSION_INFO; 9 | #else 10 | m.attr("__version__") = "dev"; 11 | #endif 12 | 13 | py::class_ ad(m, "OpusDecoder"); 14 | ad.doc() = "Class for Opus Decoder"; 15 | ad.def(py::init(),py::arg("frame_size") = 960, 16 | py::arg("sample_rate") = 48000, py::arg("channels") = 1); 17 | ad.def("decode", &PyOpusDecoder::decode, "Opus decode function",py::arg("input")); 18 | 19 | py::class_ vd(m,"H264Decoder"); 20 | vd.doc() = "Class for H264 Decoder"; 21 | vd.def(py::init(), py::arg("output_format") = "BGR", py::arg("verbose") = true); 22 | vd.def("decode", &PyH264Decoder::decode, "H264 decode function",py::arg("input")); 23 | 24 | } 25 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/opus-share/lib/opus.dll.manifest: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /lib/libmedia_codec/src/opus-share/lib/opus.exp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/lib/libmedia_codec/src/opus-share/lib/opus.exp -------------------------------------------------------------------------------- /lib_install.bat: -------------------------------------------------------------------------------- 1 | @echo off 2 | echo install robomaster... 3 | pip install robomaster 4 | echo install netaddr... 5 | pip install netaddr 6 | echo install netifaces... 7 | pip install netifaces 8 | echo install myqr... 9 | pip install myqr -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # 2 | ####### example-requirements.txt ####### 3 | # 4 | ###### Requirements without Version Specifiers ###### 5 | robomaster 6 | # 7 | ###### Requirements with Version Specifiers ###### 8 | # See https://www.python.org/dev/peps/pep-0440/#version-specifiers 9 | numpy >= 1.18 10 | opencv-python >= 4.2 11 | netaddr >= 0.8 12 | netifaces >= 0.10 13 | # 14 | ###### Refer to other requirements files ###### 15 | #-r other-requirements.txt 16 | # 17 | # 18 | ###### A particular file ###### 19 | #./downloads/numpy-1.9.2-cp34-none-win32.whl 20 | #http://wxpython.org/Phoenix/snapshot-builds/wxPython_Phoenix-3.0.3.dev1820+49a8884-cp34-none-win_amd64.whl 21 | # 22 | ###### Additional Requirements without Version Specifiers ###### 23 | # Same as 1st section, just here to show that you can put things in any order. 24 | # 25 | -------------------------------------------------------------------------------- /sdk install on Raspberry Pi.7z: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/sdk install on Raspberry Pi.7z -------------------------------------------------------------------------------- /src/multi_robomaster/__init__.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import time 3 | 4 | if sys.version_info < (3, 6, 5): 5 | sys.exit('RoboMaster Sdk requires Python 3.6.5 or later') 6 | 7 | import logging 8 | 9 | logger_name = "multi_robot" 10 | logger = logging.getLogger(logger_name) 11 | logger.setLevel(logging.ERROR) 12 | fmt = "%(asctime)-15s %(levelname)s %(filename)s:%(lineno)d %(message)s" 13 | formatter = logging.Formatter(fmt) 14 | sh = logging.StreamHandler() 15 | sh.setFormatter(formatter) 16 | logger.addHandler(sh) 17 | 18 | 19 | def enable_logging_to_file(): 20 | logger.setLevel(logging.INFO) 21 | filename = "RoboMasterSDK_MultiRobot_{0}_log.txt".format(time.strftime("%Y%m%d%H%M%S", time.localtime())) 22 | fh = logging.FileHandler(filename) 23 | fh.setFormatter(formatter) 24 | logger.addHandler(fh) 25 | 26 | 27 | __all__ = ['multi_robot', 'multi_group', 'multi_module', 'tool'] 28 | -------------------------------------------------------------------------------- /src/robomaster/__pycache__/__init__.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/__init__.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/action.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/action.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/ai.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/ai.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/ai_module.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/ai_module.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/algo.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/algo.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/armor.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/armor.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/battery.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/battery.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/blaster.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/blaster.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/camera.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/camera.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/chassis.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/chassis.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/client.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/client.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/config.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/config.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/conn.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/conn.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/dds.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/dds.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/event.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/event.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/exceptions.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/exceptions.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/flight.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/flight.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/gimbal.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/gimbal.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/gripper.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/gripper.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/led.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/led.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/media.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/media.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/module.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/module.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/protocol.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/protocol.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/robot.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/robot.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/robotic_arm.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/robotic_arm.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/sensor.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/sensor.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/servo.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/servo.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/uart.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/uart.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/util.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/util.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/version.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/version.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/__pycache__/vision.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/src/robomaster/__pycache__/vision.cpython-37.pyc -------------------------------------------------------------------------------- /src/robomaster/exceptions.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | __all__ = ['TimeOutError'] 18 | 19 | 20 | class SDKException(Exception): 21 | """Base class of all SDK exceptions.""" 22 | 23 | 24 | class TimeOutError(SDKException): 25 | """Remote Call Timeout.""" 26 | 27 | 28 | class OutOfRangeError(SDKException): 29 | """Params Values OutOfRange.""" 30 | 31 | 32 | class ConnectionError(SDKException): 33 | """Connection TimeOut.""" 34 | -------------------------------------------------------------------------------- /src/robomaster/version.py: -------------------------------------------------------------------------------- 1 | # -*-coding:utf-8-*- 2 | # Copyright (c) 2020 DJI. 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License in the file LICENSE.txt or at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | 17 | SDK_VERSION_MAJOR = 0 18 | SDK_VERSION_MINOR = 1 19 | SDK_VERSION_REVISION = 1 20 | SDK_VERSION_BUILD = 68 21 | 22 | __version__ = "{0:d}.{1:d}.{2:d}.{3:d}".format(SDK_VERSION_MAJOR, SDK_VERSION_MINOR, 23 | SDK_VERSION_REVISION, SDK_VERSION_BUILD) 24 | -------------------------------------------------------------------------------- /visualcppbuildtools_full.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dji-sdk/RoboMaster-SDK/ff6646e115ab125af3207a4ed3df42cc76c795b2/visualcppbuildtools_full.exe --------------------------------------------------------------------------------