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ZhuYaoHui1998ZhuYaoHui1998
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Merge pull request #5 from yixunxiehuangbao/factory
Function enhancement of servo debugging tool
2 parents 7d119a7 + d79bed5 commit 56c8d48

15 files changed

Lines changed: 5526 additions & 410 deletions

‎README.md‎

Lines changed: 147 additions & 126 deletions
Large diffs are not rendered by default.

‎scservo_sdk/sms_sts.py‎

Lines changed: 20 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -85,6 +85,26 @@ def ReadMoving(self, scs_id):
8585
moving, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SMS_STS_MOVING)
8686
return moving, scs_comm_result, scs_error
8787

88+
def ReadVoltage(self, scs_id):
89+
voltage, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SMS_STS_PRESENT_VOLTAGE)
90+
return voltage, scs_comm_result, scs_error
91+
92+
def ReadTemperature(self, scs_id):
93+
temperature, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SMS_STS_PRESENT_TEMPERATURE)
94+
return temperature, scs_comm_result, scs_error
95+
96+
def ReadLoad(self, scs_id):
97+
scs_present_load, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_PRESENT_LOAD_L)
98+
return self.scs_tohost(scs_present_load, 15), scs_comm_result, scs_error
99+
100+
def ReadCurrent(self, scs_id):
101+
scs_present_current, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_PRESENT_CURRENT_L)
102+
return self.scs_tohost(scs_present_current, 15), scs_comm_result, scs_error
103+
104+
def ReadModelNumber(self, scs_id):
105+
scs_model_number, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_MODEL_L)
106+
return scs_model_number, scs_comm_result, scs_error
107+
88108
def SyncWritePosEx(self, scs_id, position, speed, acc):
89109
position = self.scs_toscs(position, 15)
90110
txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]

‎setup.py‎

Lines changed: 109 additions & 61 deletions
Original file line numberDiff line numberDiff line change
@@ -1,101 +1,149 @@
11
#!/usr/bin/env python
22
# -*- coding: utf-8 -*-
33
"""
4-
Factory Calibration Tool Setup Script
5-
检查并安装必要的依赖
4+
Seeed_RoboController 环境检查脚本
5+
运行: python setup.py
66
"""
77

8-
import subprocess
9-
import sys
108
import os
9+
import sys
10+
import platform
11+
import subprocess
12+
1113

1214
def install_package(package):
13-
"""安装Python包"""
15+
"""安装 Python 包"""
1416
try:
1517
subprocess.check_call([sys.executable, "-m", "pip", "install", package])
16-
print(f"[OK] {package} installed successfully")
18+
print(f"[OK] {package} 安装成功")
1719
return True
1820
except subprocess.CalledProcessError:
19-
print(f"[ERROR] Failed to install {package}")
21+
print(f"[ERROR] {package} 安装失败")
2022
return False
2123

22-
def check_import(module_name, package_name=None):
24+
25+
def check_import(module_name, package_name=None, install=False):
2326
"""检查模块是否可导入"""
2427
try:
2528
__import__(module_name)
26-
print(f"[OK] {module_name} is available")
29+
print(f"[OK] {module_name} 可导入")
2730
return True
2831
except ImportError:
29-
print(f"[ERROR] {module_name} is not available")
30-
if package_name:
31-
print(f" Installing {package_name}...")
32+
print(f"[ERROR] {module_name} 无法导入")
33+
if install and package_name:
34+
print(f" 正在安装 {package_name}...")
3235
return install_package(package_name)
3336
return False
3437

38+
39+
def check_python_version():
40+
"""检查 Python 版本"""
41+
version = sys.version_info
42+
print(f"[INFO] Python 版本: {version.major}.{version.minor}.{version.micro}")
43+
if version < (3, 8):
44+
print("[ERROR] 需要 Python >= 3.8")
45+
return False
46+
print("[OK] Python 版本符合要求")
47+
return True
48+
49+
50+
def check_files():
51+
"""检查关键文件是否存在"""
52+
print("\n检查项目文件完整性...")
53+
required_files = [
54+
"requirements.txt",
55+
"src/port_utils.py",
56+
"src/calibration_manager.py",
57+
"src/tools/scan_id.py",
58+
"src/tools/lerobot_calibrate.py",
59+
"src/tools/run_calibration_middle.py",
60+
"src/gui/factory_calibration_tool.py",
61+
"src/gui/calibration_wizard.py",
62+
"scservo_sdk/port_handler.py",
63+
"scservo_sdk/sms_sts.py",
64+
"scservo_sdk/scservo_def.py",
65+
]
66+
67+
all_ok = True
68+
for f in required_files:
69+
if os.path.exists(f):
70+
print(f"[OK] {f}")
71+
else:
72+
print(f"[ERROR] 缺失: {f}")
73+
all_ok = False
74+
return all_ok
75+
76+
3577
def main():
36-
print("=== Factory Calibration Tool Setup ===")
37-
print("Checking dependencies...\n")
78+
print("=" * 50)
79+
print("Seeed_RoboController 环境检查")
80+
print("=" * 50)
81+
print(f"平台: {platform.system()} {platform.release()}")
82+
print(f"机器: {platform.machine()}")
83+
print("")
84+
85+
all_ok = True
3886

39-
# 检查必要的Python包
87+
if not check_python_version():
88+
all_ok = False
89+
90+
# 检查依赖
91+
print("\n检查 Python 依赖...")
4092
dependencies = [
4193
("PySide6", "PySide6"),
4294
("serial", "pyserial"),
4395
]
44-
45-
all_ok = True
4696
for module, package in dependencies:
4797
if not check_import(module, package):
4898
all_ok = False
4999

50-
# 检查文件完整性
51-
print("\nChecking file integrity...")
52-
required_files = [
53-
"factory_calibration_tool.py",
54-
"servo_middle_calibration.py",
55-
"servo_quick_calibration.py",
56-
"servo_center_test.py",
57-
"servo_disable.py",
58-
"servo_remote_control.py",
59-
"scservo_sdk/port_handler.py",
60-
"scservo_sdk/sms_sts.py",
61-
"scservo_sdk/scservo_def.py",
100+
# 检查项目模块
101+
print("\n检查项目模块...")
102+
project_modules = [
103+
"src.port_utils",
104+
"src.calibration_manager",
62105
]
106+
for module in project_modules:
107+
if not check_import(module):
108+
all_ok = False
63109

64-
for file in required_files:
65-
if os.path.exists(file):
66-
print(f"[OK] {file}")
67-
else:
68-
print(f"[ERROR] {file} is missing")
110+
# 检查 SDK
111+
print("\n检查 SCServo SDK...")
112+
sdk_modules = [
113+
"scservo_sdk.port_handler",
114+
"scservo_sdk.sms_sts",
115+
"scservo_sdk.scservo_def",
116+
]
117+
for module in sdk_modules:
118+
if not check_import(module):
69119
all_ok = False
70120

121+
# 检查文件
122+
if not check_files():
123+
all_ok = False
124+
125+
print("")
71126
if all_ok:
72-
print("\n=== Setup Complete! ===")
73-
print("You can now run the calibration tool:")
74-
print(" python factory_calibration_tool.py")
75-
print("\nThe tool will auto-detect available serial ports.")
76-
print("Or manually specify ports:")
77-
import platform
78-
if platform.system() == "Windows":
79-
print(" python factory_calibration_tool.py --port1 COM1 --port2 COM2")
80-
else:
81-
# macOS/Linux: Show actual detected ports if available
82-
try:
83-
from port_utils import get_available_ports, list_ports_for_user
84-
ports = get_available_ports()
85-
if len(ports) >= 2:
86-
print(f" python factory_calibration_tool.py --port1 {ports[0].device} --port2 {ports[1].device}")
87-
elif len(ports) == 1:
88-
print(f" python factory_calibration_tool.py --port1 {ports[0].device}")
89-
print(" (Note: Only one port detected, connect another adapter)")
90-
else:
91-
print(" python factory_calibration_tool.py --port1 /dev/ttyUSB0 --port2 /dev/ttyUSB1")
92-
print(" (No ports detected, please connect USB-to-Serial adapter)")
93-
except ImportError:
94-
print(" python factory_calibration_tool.py --port1 /dev/ttyUSB0 --port2 /dev/ttyUSB1")
127+
print("=" * 50)
128+
print("[OK] 环境检查通过，可以运行项目")
129+
print("=" * 50)
130+
print("\n常用命令:")
131+
print(" python -m src.tools.scan_id --list")
132+
print(" python -m src.tools.scan_id")
133+
print(" python -m src.gui.factory_calibration_tool")
134+
print(" python -m src.tools.lerobot_calibrate")
135+
print(" python -m src.tools.run_calibration_middle")
136+
return 0
95137
else:
96-
print("\n=== Setup Failed ===")
97-
print("Please fix the issues above before running the tool.")
98-
sys.exit(1)
138+
print("=" * 50)
139+
print("[ERROR] 环境检查未通过，请修复上述问题")
140+
print("=" * 50)
141+
print("\n可尝试手动安装:")
142+
print(" python3 -m venv .venv")
143+
print(" source .venv/bin/activate")
144+
print(" pip install -r requirements.txt")
145+
return 1
146+
99147

100148
if __name__ == "__main__":
101-
main()
149+
sys.exit(main())

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