initial Commit

Author: cpr-bar

README.md

@@ -1,2 +1,37 @@
-# CRI-Python-Lib
-Library to use Python to interact with the iRC igus Robot Control via the CRI interface
+# Introduction 
+Python package to interface an igus Robot Control via the CRI protocol.
+
+# Current Features
+- Robot State
+- Basic functions
+    - Reset
+    - Enable / Disable
+    - Acquisition of active control
+    - Override
+- Referencing of 
+    - single axis
+    - all axes
+    - Set joints to zero
+- Direct movements
+    - Joint and relative joint
+    - Cartesian
+    - Cartesian base and tool relative
+- Live jog
+- Digital IO and global signals
+- Programs
+    - Upload
+    - Start / Pause / Stop
+- CAN Bridge
+
+# Getting Started
+## Installation
+Using the library requires no additional libraries, only testing has external dependencies.
+
+In the top directory of this repository execute `pip install .`
+
+## Examples
+See `examples` directory.
+
+# Tests
+This repository provides pytests for the message parser. They require `pytest` and `pytest-cov`, which can be installed via `pip install -r requirements.txt`. To run the tests (including coverage) execute the following command: `pytest -vv --cov=cri_lib --cov-report term-missing tests`. 
+

cri_lib/__init__.py

@@ -0,0 +1,25 @@
+"""
+.. include:: ../README.md
+"""
+
+
+from .robot_state import (
+    RobotMode,
+    KinematicsState,
+    OperationMode,
+    RunState,
+    ReplayMode,
+    ErrorStates,
+    RobotCartesianPosition,
+    PlatformCartesianPosition,
+    JointsState,
+    RobotState,
+    PosVariable,
+    OperationInfo,
+    ReferencingAxisState,
+    ReferencingState,
+)
+from .cri_controller import CRIController
+from .cri_protocol_parser import CRIProtocolParser
+
+from .cri_errors import CRIError, CRIConnectionError, CRICommandTimeOutError