From 90372ba13b691e481d1bee9fcb72c87fcbc14a39 Mon Sep 17 00:00:00 2001
From: liufang-robot <61956285+liufang-robot@users.noreply.github.com>
Date: Wed, 1 Feb 2023 13:52:46 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E5=AE=8C=E5=96=84=E6=96=87=E6=A1=A3?=
=?UTF-8?q?=EF=BC=8C=E6=B7=BB=E5=8A=A0dotnet=E7=9A=84=E6=96=87=E6=A1=A3?=
=?UTF-8?q?=E3=80=82=20(#31)?=
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* fix: 完善文档，添加dotnet的文档。
* fix: 修正linux_python_build.yml重复编译的问题，以及没有指定PYTHONPATH的问题。
---
.github/workflows/linux_python_build.yml | 8 +--
CMakeLists.txt | 2 +-
Doxyfile | 2 +-
README.md | 28 +++++++++-
doc/dotnet.md | 68 ++++++++++++++++++++++++
doc/python.md | 14 ++---
dotnet/lebai.csproj.in | 2 +-
sdk/include/lebai/lebai.hh | 5 +-
sdk/include/lebai/robot.hh | 12 +++--
9 files changed, 118 insertions(+), 23 deletions(-)
create mode 100644 doc/dotnet.md
diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index 0a3bd39..ac0fc55 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -14,19 +14,13 @@ jobs:
- run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
- run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0
- - name: configure
- run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
-
- - name: build
- run: cmake --build build
-
- name: create-whl-dir
run: mkdir -p whl
- name: build with python
run: for PY in /opt/python/*;do
rm -rf build;
- cmake -S. -Bbuild -DBUILD_PYTHON=ON;
+ cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
cmake --build build;
cp build/python/dist/*.whl whl/;
done;
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4320d3..ec97156 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
-project(lebai VERSION 1.0.15 LANGUAGES CXX)
+project(lebai VERSION 1.0.16 LANGUAGES CXX)
set(PROJECT_NAMESPACE lebai)
message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
# message(STATUS "major: ${PROJECT_VERSION_MAJOR}")
diff --git a/Doxyfile b/Doxyfile
index f00da1d..4502b16 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME = "lebai sdk"
# could be handy for archiving the generated documentation or if some version
# control system is used.
-PROJECT_NUMBER = 1.0.15
+PROJECT_NUMBER = 1.0.16
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a
diff --git a/README.md b/README.md
index 75140d7..1fd3c8c 100755
--- a/README.md
+++ b/README.md
@@ -5,6 +5,8 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
| Linux | [![Status][cpp_linux_svg]][cpp_linux_link] | [![Status][python_linux_svg]][python_linux_link] | [![Status][dotnet_linux_svg]][dotnet_linux_link] | TODO |
| Windows | TODO | TODO | TODO | TODO |
+**上图中显示TODO的地方表示该平台该语言的实现还存在问题，没有完全测试通过，后续会陆续完成。**
+
[cpp_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_cpp_release.yml/badge.svg
[cpp_linux_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_cpp_release.yml
[python_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_python_release.yml/badge.svg
@@ -12,12 +14,15 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
[dotnet_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_dotnet_release.yml/badge.svg
[dotnet_linux_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_dotnet_release.yml
-
-[SDK在线文档](http://help.lebai.ltd/sdk/)
+[SDK在线文档](http://help.lebai.ltd/sdk/)中包含了lua语言的接口（本项目参考了lua语言进行接口设置，但是本项目和lua语言的接口无直接关系）
# 包管理直接安装
+## python
python开发可以直接从[PyPI](https://pypi.org/project/pylebai/)安装.
+
+**目前python仅支持linux平台，windows平台还存在问题.**
+
```
pip install pylebai
```
@@ -28,6 +33,22 @@ pip install pylebai
- `3.9`
- `3.10`
+
+python开发可以直接从[PyPI](https://pypi.org/project/pylebai/)安装.
+
+
+## .net
+.net平台开发可以直接从[Nuget](https://www.nuget.org/packages/lebai/)安装，使用C#进行开发.
+
+**目前.net仅支持linux平台，windows平台还存在问题.**
+
+```
+dotnet add package lebai
+```
+目前支持的.net版本有
+- `6.0`
+
+
# 从源代码构建安装
## Ubuntu&&Debian平台
@@ -103,6 +124,9 @@ pip3 install pylebai-xxx.whl
pip3 uninstall pylebai
```
+
+
+
# 第三方库
lebai-sdk使用如下第三方软件:
diff --git a/doc/dotnet.md b/doc/dotnet.md
new file mode 100644
index 0000000..39585d4
--- /dev/null
+++ b/doc/dotnet.md
@@ -0,0 +1,68 @@
+# .net平台应用文档
+
+**目前.net仅支持linux平台，windows平台还存在问题.**
+
+[Nuget包地址](https://www.nuget.org/packages/lebai/)
+
+## 通过nuget安装'
+
+```bash
+dotnet add package lebai
+```
+
+## 示例工程运行
+
+您可以自行创建.net工程，并且在CSharp中使用lebai包进行开发。
+
+一个简单的示例步骤如下：
+
+1. 创建工程
+
+
+```bash
+# 创建
+mkdir lebai-sdk-dotnet-example
+cd lebai-sdk-dotnet-example
+dotnet new console
+```
+
+2. 添加lebai packages
+
+```bash
+dotnet add package lebai
+```
+
+3. 编写代码
+
+
+在程序中添加如下代码
+
+```c#
+using lebai.l_master;
+
+
+# in Main
+Robot robot = new Robot("xxx.xxx.xxx.xxx", true);
+robot.stop_sys();
+Console.WriteLine($"stop...");
+robot.start_sys();
+Console.WriteLine($"start...");
+DoubleVector jp1 = new DoubleVector();
+jp1.Add(0.0);
+jp1.Add(-60.0 / 180.0 * 3.14);
+jp1.Add(80.0 / 180.0 * 3.14);
+jp1.Add(-10.0 / 180.0 * 3.14);
+jp1.Add(-60.0 / 180.0 * 3.14);
+jp1.Add(0.0);
+robot.movej(jp1, 1.0, 1.0, 0.0, 0.0);
+```
+
+4. 编译运行
+
+```
+dotnet build
+# run your console application.
+```
+
+
+
diff --git a/doc/python.md b/doc/python.md
index 69a5b60..da5f04d 100755
--- a/doc/python.md
+++ b/doc/python.md
@@ -3,7 +3,9 @@
## 通过pypi安装
-TODO
+```
+pip3 install pylebai
+```
## 通过源码构建安装
@@ -22,19 +24,19 @@ cmake --build build --target python_package
构建完成后，在`build/python/dist/`目录下会生成python的whl包，可以直接使用pip进行安装。
```bash
-sudo pip3 install build/python/dist/lebai-xxx.whl
+pip3 install build/python/dist/pylebai-xxx.whl
```
您可以通过如下命令来查看安装的包的信息。
```bash
-pip3 show lebai
+pip3 show pylebai
```
您可以通过如下命令来卸载。
```bash
-sudo pip3 uninstall lebai
+sudo pip3 uninstall pylebai
```
### 运行
@@ -42,8 +44,8 @@ sudo pip3 uninstall lebai
安装完成后可以直接使用lebai包。
```python
-from lebai import robot
-robot = robot.Robot("172.17.0.5",True)
+from lebai import l_master
+robot = l_master.Robot("172.17.0.5",True)
robot.movej({"j1": 1.0,"j2": -1.0471975511965976,"j3": 1.3962634015954636,"j4": -0.17453292519943295,"j5": -1.0471975511965976,"j6": 0.0},1.0,1.0,0.0,0.0)
```
diff --git a/dotnet/lebai.csproj.in b/dotnet/lebai.csproj.in
index 8db07ce..53b14d9 100644
--- a/dotnet/lebai.csproj.in
+++ b/dotnet/lebai.csproj.in
@@ -9,7 +9,7 @@
@PROJECT_VERSION@
- .NET wrapper for the CMakeSwig project
+ .NET wrapper for the lebai-sdk project
@DOTNET_PROJECT@ v@PROJECT_VERSION@
diff --git a/sdk/include/lebai/lebai.hh b/sdk/include/lebai/lebai.hh
index 0eb96d1..55e9b08 100644
--- a/sdk/include/lebai/lebai.hh
+++ b/sdk/include/lebai/lebai.hh
@@ -16,7 +16,10 @@
* 查阅 \ref doc/changelog.md.
*
* # Python
- * 查看 \ref doc/python.md 来获取使用python相关的内容.
+ * 查看 \ref doc/python.md 来获取使用python开发相关的内容.
+ *
+ * # .net
+ * 查看 \ref doc/dotnet.md 来获取在.net中使用C#开发相关的内容.
*
* # Develop
* 如果需要开发sdk，添加新的功能，可以参考 \ref doc/develop.md.
diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
index 17afd45..2e12bfb 100644
--- a/sdk/include/lebai/robot.hh
+++ b/sdk/include/lebai/robot.hh
@@ -141,12 +141,16 @@ namespace lebai
* \brief 机器人计算相关的接口.
*/
- /** \defgroup FILE 文件系统
- * \brief 文件系统相关的接口
+ /** \defgroup FILE 文件系统.
+ * \brief 文件系统相关的接口.
*/
- /** \defgroup MODBUS modbus
- * \brief modbus相关的接口
+ /** \defgroup MODBUS modbus.
+ * \brief modbus相关的接口.
+ */
+
+ /** \defgroup SCENE 场景.
+ * \brief 场景相关的接口.
*/
/** \addtogroup STARTSTOP