├── .gitignore ├── LICENSE ├── README.rst ├── py_openshowvar.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | *.egg-info/ 24 | .installed.cfg 25 | *.egg 26 | MANIFEST 27 | 28 | # PyInstaller 29 | # Usually these files are written by a python script from a template 30 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 31 | *.manifest 32 | *.spec 33 | 34 | # Installer logs 35 | pip-log.txt 36 | pip-delete-this-directory.txt 37 | 38 | # Unit test / coverage reports 39 | htmlcov/ 40 | .tox/ 41 | .coverage 42 | .coverage.* 43 | .cache 44 | nosetests.xml 45 | coverage.xml 46 | *.cover 47 | .hypothesis/ 48 | 49 | # Translations 50 | *.mo 51 | *.pot 52 | 53 | # Django stuff: 54 | *.log 55 | .static_storage/ 56 | .media/ 57 | local_settings.py 58 | 59 | # Flask stuff: 60 | instance/ 61 | .webassets-cache 62 | 63 | # Scrapy stuff: 64 | .scrapy 65 | 66 | # Sphinx documentation 67 | docs/_build/ 68 | 69 | # PyBuilder 70 | target/ 71 | 72 | # Jupyter Notebook 73 | .ipynb_checkpoints 74 | 75 | # pyenv 76 | .python-version 77 | 78 | # celery beat schedule file 79 | celerybeat-schedule 80 | 81 | # SageMath parsed files 82 | *.sage.py 83 | 84 | # Environments 85 | .env 86 | .venv 87 | env/ 88 | venv/ 89 | ENV/ 90 | env.bak/ 91 | venv.bak/ 92 | 93 | # Spyder project settings 94 | .spyderproject 95 | .spyproject 96 | 97 | # Rope project settings 98 | .ropeproject 99 | 100 | # mkdocs documentation 101 | /site 102 | 103 | # mypy 104 | .mypy_cache/ 105 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2016 KUKA Industries 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | py_openshowvar 2 | =============== 3 | 4 | A Python port of KUKA VarProxy client (OpenShowVar). 5 | 6 | Python version 7 | =============== 8 | 9 | Supports 2.6+ / 3.3+, tested at 2.7.11 and 3.6.3. 10 | 11 | Install 12 | ======== 13 | 14 | On PYPI: ``_ 15 | 16 | ``pip install py_openshowvar`` 17 | 18 | Usage 19 | ====== 20 | 21 | Module usage: 22 | 23 | .. code-block:: python 24 | 25 | >>> from py_openshowvar import openshowvar 26 | >>> client = openshowvar('192.168.19.132', 7001) 27 | >>> client.can_connect 28 | True 29 | >>> ov = client.read('$OV_PRO', debug=True) 30 | [DEBUG] (48, 6, 0, 3, '100', '\x00\x01\x01') 31 | 100 32 | >>> print(ov) 33 | 100 34 | >>> client.close() 35 | 36 | Built-in shell usage: 37 | 38 | .. code-block:: bash 39 | 40 | $ python ./py_openshowvar.py 41 | IP Address: 192.168.19.132 42 | Port: 7001 43 | 44 | Connected KRC Name: "xxxxxxxxxx" 45 | 46 | Input var_name [, var_value] 47 | (`q` for quit): $OV_PRO 48 | [DEBUG] (66, 5, 0, 2, '50', '\x00\x01\x01') 49 | 50 50 | 51 | Input var_name [, var_value] 52 | (`q` for quit): $OV_PRO, 100 53 | [DEBUG] (67, 6, 1, 3, '100', '\x00\x01\x01') 54 | 100 55 | 56 | Input var_name [, var_value] 57 | (`q` for quit): q 58 | Bye 59 | 60 | -------------------------------------------------------------------------------- /py_openshowvar.py: -------------------------------------------------------------------------------- 1 | ''' 2 | A Python port of KUKA VarProxy client (OpenShowVar). 3 | ''' 4 | 5 | from __future__ import print_function 6 | import sys 7 | import struct 8 | import random 9 | import socket 10 | 11 | __version__ = '1.1.7' 12 | ENCODING = 'UTF-8' 13 | 14 | PY2 = sys.version_info[0] == 2 15 | if PY2: input = raw_input 16 | 17 | 18 | class openshowvar(object): 19 | def __init__(self, ip, port): 20 | self.ip = ip 21 | self.port = port 22 | self.msg_id = random.randint(1, 100) 23 | self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 24 | try: 25 | self.sock.connect((self.ip, self.port)) 26 | except socket.error: 27 | pass 28 | 29 | def test_connection(self): 30 | sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 31 | try: 32 | ret = sock.connect_ex((self.ip, self.port)) 33 | return ret == 0 34 | except socket.error: 35 | print('socket error') 36 | return False 37 | 38 | can_connect = property(test_connection) 39 | 40 | def read(self, var, debug=True): 41 | if not isinstance(var, str): 42 | raise Exception('Var name is a string') 43 | else: 44 | self.varname = var if PY2 else var.encode(ENCODING) 45 | return self._read_var(debug) 46 | 47 | def write(self, var, value, debug=True): 48 | if not (isinstance(var, str) and isinstance(value, str)): 49 | raise Exception('Var name and its value should be string') 50 | self.varname = var if PY2 else var.encode(ENCODING) 51 | self.value = value if PY2 else value.encode(ENCODING) 52 | return self._write_var(debug) 53 | 54 | def _read_var(self, debug): 55 | req = self._pack_read_req() 56 | self._send_req(req) 57 | _value = self._read_rsp(debug) 58 | if debug: 59 | print(_value) 60 | return _value 61 | 62 | def _write_var(self, debug): 63 | req = self._pack_write_req() 64 | self._send_req(req) 65 | _value = self._read_rsp(debug) 66 | if debug: 67 | print(_value) 68 | return _value 69 | 70 | def _send_req(self, req): 71 | self.rsp = None 72 | self.sock.sendall(req) 73 | self.rsp = self.sock.recv(256) 74 | 75 | def _pack_read_req(self): 76 | var_name_len = len(self.varname) 77 | flag = 0 78 | req_len = var_name_len + 3 79 | 80 | return struct.pack( 81 | '!HHBH'+str(var_name_len)+'s', 82 | self.msg_id, 83 | req_len, 84 | flag, 85 | var_name_len, 86 | self.varname 87 | ) 88 | 89 | def _pack_write_req(self): 90 | var_name_len = len(self.varname) 91 | flag = 1 92 | value_len = len(self.value) 93 | req_len = var_name_len + 3 + 2 + value_len 94 | 95 | return struct.pack( 96 | '!HHBH'+str(var_name_len)+'s'+'H'+str(value_len)+'s', 97 | self.msg_id, 98 | req_len, 99 | flag, 100 | var_name_len, 101 | self.varname, 102 | value_len, 103 | self.value 104 | ) 105 | 106 | def _read_rsp(self, debug=False): 107 | if self.rsp is None: return None 108 | var_value_len = len(self.rsp) - struct.calcsize('!HHBH') - 3 109 | result = struct.unpack('!HHBH'+str(var_value_len)+'s'+'3s', self.rsp) 110 | _msg_id, body_len, flag, var_value_len, var_value, isok = result 111 | if debug: 112 | print('[DEBUG]', result) 113 | if result[-1].endswith(b'\x01') and _msg_id == self.msg_id: 114 | self.msg_id = (self.msg_id + 1) % 65536 # format char 'H' is 2 bytes long 115 | return var_value 116 | 117 | def close(self): 118 | self.sock.close() 119 | 120 | 121 | ############### test ############### 122 | 123 | 124 | def run_shell(ip, port): 125 | client = openshowvar(ip, port) 126 | if not client.can_connect: 127 | print('Connection error') 128 | import sys 129 | sys.exit(-1) 130 | print('\nConnected KRC Name: ', end=' ') 131 | client.read('$ROBNAME[]', False) 132 | while True: 133 | data = input('\nInput var_name [, var_value]\n(`q` for quit): ') 134 | if data.lower() == 'q': 135 | print('Bye') 136 | client.close() 137 | break 138 | else: 139 | parts = data.split(',') 140 | if len(parts) == 1: 141 | client.read(data.strip(), True) 142 | else: 143 | client.write(parts[0], parts[1].lstrip(), True) 144 | 145 | 146 | if __name__ == '__main__': 147 | ip = input('IP Address: ') 148 | port = input('Port: ') 149 | run_shell(ip, int(port)) 150 | 151 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | import py_openshowvar 3 | 4 | def fread(filepath): 5 | with open(filepath, 'r') as f: 6 | return f.read() 7 | 8 | setup( 9 | name='py_openshowvar', 10 | version=py_openshowvar.__version__, 11 | description='A Python port of KUKA VarProxy client (OpenShowVar).', 12 | long_description=fread('README.rst'), 13 | url='https://github.com/linuxsand/py_openshowvar', 14 | author='Huang Jie', 15 | author_email='j.huang@reisrobotics.cn', 16 | license='MIT', 17 | py_modules=['py_openshowvar'], 18 | classifiers=[ 19 | 'Development Status :: 5 - Production/Stable', 20 | 'Intended Audience :: Developers', 21 | 'Topic :: Communications', 22 | 'Topic :: Software Development :: Libraries :: Python Modules', 23 | 'License :: OSI Approved :: MIT License', 24 | 'Programming Language :: Python :: 2', 25 | 'Programming Language :: Python :: 2.6', 26 | 'Programming Language :: Python :: 2.7', 27 | 'Programming Language :: Python :: 3', 28 | 'Programming Language :: Python :: 3.3', 29 | 'Programming Language :: Python :: 3.4', 30 | 'Programming Language :: Python :: 3.5', 31 | 'Programming Language :: Python :: 3.6', 32 | 'Programming Language :: Python :: 3.7', 33 | 'Programming Language :: Python :: 3.8' 34 | ] 35 | ) 36 | --------------------------------------------------------------------------------