C++版本

fast_lowcmd_cpp/fast_lowcmd.py

@@ -0,0 +1,49 @@
+"""Python wrapper for the native LowCmd builder.
+
+This module is intentionally kept outside the main go1_pro_sdk package until
+the byte-equivalence and timing tests are stable on the robot board.
+"""
+from pathlib import Path
+
+from go1_fast_lowcmd import FastLowCmdBuilder as _NativeFastLowCmdBuilder
+
+
+def default_state_path() -> str:
+    return str(
+        Path(__file__).resolve().parents[1]
+        / "go1_pro_sdk"
+        / "_data"
+        / "blowfish_state.bin"
+    )
+
+
+class FastLowCmdBuilder:
+    def __init__(self, state_path=None):
+        self._native = _NativeFastLowCmdBuilder(str(state_path or default_state_path()))
+
+    def build_plain_damping(self):
+        return self._native.build_plain_damping()
+
+    def build_encrypted_damping(self):
+        return self._native.build_encrypted_damping()
+
+    def build_plain_servo12(self, q, dq=None, tau=None, kp=None, kd=None):
+        return self._native.build_plain_servo12(q, dq=dq, tau=tau, kp=kp, kd=kd)
+
+    def build_encrypted_servo12(self, q, dq=None, tau=None, kp=None, kd=None):
+        return self._native.build_encrypted_servo12(q, dq=dq, tau=tau, kp=kp, kd=kd)
+
+    def build_plain_fields20(self, mode=None, q=None, dq=None, tau=None, kp=None, kd=None):
+        return self._native.build_plain_fields20(mode=mode, q=q, dq=dq, tau=tau, kp=kp, kd=kd)
+
+    def build_encrypted_fields20(self, mode=None, q=None, dq=None, tau=None, kp=None, kd=None):
+        return self._native.build_encrypted_fields20(mode=mode, q=q, dq=dq, tau=tau, kp=kp, kd=kd)
+
+    def build_plain_lowcmd(self, lowcmd):
+        return self._native.build_plain_lowcmd(lowcmd)
+
+    def build_encrypted_lowcmd(self, lowcmd):
+        return self._native.build_encrypted_lowcmd(lowcmd)
+
+    def encrypt(self, data):
+        return self._native.encrypt(data)