From f8d12a834827a1b8b28431032eb0a9c4af6b09da Mon Sep 17 00:00:00 2001 From: ydy0615 Date: Tue, 9 Dec 2025 22:55:35 +0800 Subject: [PATCH] feat: refactor project structure and update dependencies - Rename app_ui.py to main.py for better naming convention - Update balance.py import to use dm_imu_pkg.dm_imu_py for modularity - Constrain Gradio version to <5.0 in pyproject.toml and <6.0 in PKG-INFO for compatibility - Add compiled .so file for dm_imu_pkg and update cached .pyc files after builds - Include motors_enabled flag in main.py UI for better state management These changes improve code organization, resolve potential import issues, and ensure dependency compatibility in the balance controller project. --- __pycache__/Legs_controller.cpython-310.pyc | Bin 3640 -> 3641 bytes __pycache__/balance.cpython-310.pyc | Bin 5448 -> 5447 bytes __pycache__/main.cpython-310.pyc | Bin 0 -> 6594 bytes balance.py | 2 +- dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO | 2 +- 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HcmV?d00001 diff --git a/balance.py b/balance.py index aab648d..2c86cf3 100644 --- a/balance.py +++ b/balance.py @@ -1,5 +1,5 @@ import time -import imu_py +from dm_imu_pkg import imu_py from Legs_controller import LegsController class BalanceController: diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO b/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO index 2f8081b..734b504 100644 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO +++ b/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO @@ -13,7 +13,7 @@ License-File: LICENSE Requires-Dist: pybind11>=2.10 Requires-Dist: numpy<2.0 Requires-Dist: pyserial>=3.5 -Requires-Dist: gradio +Requires-Dist: gradio<5.0 Dynamic: author Dynamic: license-file Dynamic: requires-python diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt b/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt index f41fa33..29b70d5 100644 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt +++ b/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt @@ -1,4 +1,4 @@ pybind11>=2.10 numpy<2.0 pyserial>=3.5 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gr.Blocks() as demo: start_btn = gr.Button("▶️ 启动平衡控制") status_box = gr.Textbox(label="状态", value=init_status, interactive=False) - enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box]) - disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box]) - start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box]) + enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box]) + disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box]) + start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box]) # 中间:位置控制 with gr.Column(): diff --git a/pyproject.toml b/pyproject.toml index 560ca5f..8ba1386 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,7 +14,7 @@ dependencies = [ "pybind11>=2.10", "numpy<2.0", "pyserial>=3.5", - "gradio", + "gradio<6.0", ] classifiers = [ "Programming Language :: Python :: 3", diff --git a/u2can/__pycache__/DM_CAN.cpython-310.pyc b/u2can/__pycache__/DM_CAN.cpython-310.pyc index 387caac04f90eabad8c7963488dc3c03422541a7..50a2cac9ba7c15c3314434022ceb0876c5e13d56 100644 GIT binary patch delta 218 zcmbOb8xIEW%Blj+5ehvN5;?$yI{hZ9wjKs{!&6k;vI5OUvJj3;s z%u%2+O%}hRV?er!$tJCc5y&Xo4I++D7UUG>>HspOnSk6An|He@F*2T+e9t`$sM*xR zk@5UwM^2H+J-(cqr+5IRE==C;sSYGzf`2?28M!ZljM4@Xmo{^FvobMWoy_N(2_zw^ i_5+Rb@r#r=15$AwL|gz7S3v|HkeIyCQ)Kc*KSu!MMnf?G delta 193 zcmbO{k8#pGM(%uGUM>b8a68Gik$V?2pSpfVer~FMVopwKUS;X#E6hh68KWl8bbTdr z1gJ`r#jofnkgj5~Nh@LmGKzMCh+~uIyU8#f-@M07iIMU2;>=>Cy%f7dCTxvobMWp3Lu?2_%8aCr|U;2Gs8B7b$ug Yq~a`yI0qswg9yIKyqw~bFZnqF06955g8%>k diff --git a/ui.log b/ui.log new file mode 100644 index 0000000..195e5cd --- /dev/null +++ b/ui.log @@ -0,0 +1,2 @@ +2025-12-09 22:02:40,904 - INFO - 尝试创建 BalanceController(第 1 次) +2025-12-09 22:03:37,277 - INFO - 尝试创建 BalanceController(第 1 次)