### Install pybind11 example module

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/README.md

Clone the repository recursively to include the pybind11 submodule, then install using pip. This command invokes CMake to build the module.

```bash
git clone --recursive https://github.com/pybind/cmake_example.git
pip install ./cmake_example
```

--------------------------------

### Standard header and namespace setup

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Common boilerplate code assumed for most pybind11 examples.

```cpp
#include <pybind11/pybind11.h>

namespace py = pybind11;
```

--------------------------------

### Install pybind11 configuration files

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/CMakeLists.txt

Handles the installation of headers, CMake config files, and target exports.

```cmake
if (PYBIND11_INSTALL)
  install(DIRECTORY ${PYBIND11_INCLUDE_DIR}/pybind11 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
  # GNUInstallDirs "DATADIR" wrong here; CMake search path wants "share".
  set(PYBIND11_CMAKECONFIG_INSTALL_DIR "share/cmake/${PROJECT_NAME}" CACHE STRING "install path for pybind11Config.cmake")

  configure_package_config_file(tools/${PROJECT_NAME}Config.cmake.in
                                "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
                                INSTALL_DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
  # Remove CMAKE_SIZEOF_VOID_P from ConfigVersion.cmake since the library does
  # not depend on architecture specific settings or libraries.
  set(_PYBIND11_CMAKE_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
  unset(CMAKE_SIZEOF_VOID_P)
  write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
                                   VERSION ${${PROJECT_NAME}_VERSION}
                                   COMPATIBILITY AnyNewerVersion)
  set(CMAKE_SIZEOF_VOID_P ${_PYBIND11_CMAKE_SIZEOF_VOID_P})
  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
                ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
                tools/FindPythonLibsNew.cmake
                tools/pybind11Tools.cmake
          DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})

  if(NOT (CMAKE_VERSION VERSION_LESS 3.0))
    if(NOT PYBIND11_EXPORT_NAME)
      set(PYBIND11_EXPORT_NAME "${PROJECT_NAME}Targets")
    endif()

    install(TARGETS pybind11 module embed
            EXPORT "${PYBIND11_EXPORT_NAME}")
    if(PYBIND11_MASTER_PROJECT)
      install(EXPORT "${PYBIND11_EXPORT_NAME}"
              NAMESPACE "${PROJECT_NAME}::"
              DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
    endif()
  endif()
endif()
```

--------------------------------

### Full Example: Initialize Robot and Log to File

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/python_sdk/log.md

This example demonstrates how to enable logging to a file, initialize a RoboMaster robot, and print its version. Ensure the SDK is configured correctly for your network environment.

```python
import robomaster
from robomaster


if __name__ == '__main__':
    robomaster.enable_logging_to_file()

    # 如果本地IP 自动获取不正确，手动指定本地IP地址
    # robomaster.config.LOCAL_IP_STR = "192.168.2.20"

    ep_robot = robot.Robot()

    # 指定连接方式为AP 直连模式
    ep_robot.initialize(conn_type='rndis')

    version = ep_robot.get_version()
    print("Robot version: {0}".format(version))
    ep_robot.close()
```

--------------------------------

### Set Drone LED Module (Full Example)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/python_sdk/multi_robot_drone_example.md

A complete example demonstrating how to set drone LED colors, including setting all to white and then setting individual colors using a dictionary. Requires importing time.

```python
import time
from multi_robomaster import multi_robot


def base_action_1(robot_group):
    robot_group.set_led(255, 255, 255)
    time.sleep(2)
    robot_group.set_led(command_dict={1: [255, 0, 0], 2: [255, 255, 0]})


if __name__ == '__main__':
    # get drone sn by run the expamles of /15_multi_robot/multi_drone/01_scan_ip.py

    robot_sn_list = ["0TQZH79ED00H56", "0TQZH79ED00H89"]
    multi_drone = multi_robot.MultiDrone()
    multi_drone.initialize(robot_num=2)
    multi_drone.number_id_by_sn([1, robot_sn_list[0]], [2, robot_sn_list[1]])
    multi_drone_group1 = multi_drone.build_group([1, 2])
    multi_drone.run([multi_drone_group1, base_action_1])
    multi_drone.close()
```

--------------------------------

### Install Pybind11 Manually

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/compiling.md

Steps to build and install pybind11 locally. This is necessary for find_package to locate it.

```bash
cd pybind11
mkdir build
cd build
cmake ..
make install
```

--------------------------------

### Create Mock Install Target

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/tests/test_cmake_build/CMakeLists.txt

Defines a custom target 'mock_install' that simulates an installation process using CMake's install script. This is used when the 'PYBIND11_INSTALL' option is enabled.

```cmake
add_custom_target(mock_install ${CMAKE_COMMAND}
  "-DCMAKE_INSTALL_PREFIX=${PROJECT_BINARY_DIR}/mock_install"
  -P "${PROJECT_BINARY_DIR}/cmake_install.cmake"
)
```

--------------------------------

### Install RoboMaster Python SDK (Windows)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/docs/source/python_sdk/installs.md

Use this command to install the RoboMaster SDK on Windows. Run the command prompt as an administrator.

```default
pip install robomaster
```

--------------------------------

### Mock Installation Target and Tests

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/tests/test_cmake_build/CMakeLists.txt

If `PYBIND11_INSTALL` is enabled, this section defines a 'mock_install' target to simulate installation and then adds build test targets for installed configurations, including 'installed_function', 'installed_target', and conditionally 'installed_embed'.

```cmake
if(PYBIND11_INSTALL)
  add_custom_target(mock_install ${CMAKE_COMMAND}
    "-DCMAKE_INSTALL_PREFIX=${PROJECT_BINARY_DIR}/mock_install"
    -P "${PROJECT_BINARY_DIR}/cmake_install.cmake"
  )

  pybind11_add_build_test(installed_function INSTALL)
  pybind11_add_build_test(installed_target INSTALL)
  if(NOT ${PYTHON_MODULE_EXTENSION} MATCHES "pypy")
    pybind11_add_build_test(installed_embed INSTALL)
  endif()
endif()
```

--------------------------------

### Query Drone SN and Battery (Full Example)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/python_sdk/multi_robot_drone_example.md

A complete example demonstrating how to query drone SN and battery information. Ensure drone initialization and grouping are done prior to running this task.

```python
from multi_robomaster import multi_robot

def basic_task(robot_group):
    robot_group.get_sn()
    robot_group.get_battery()


if __name__ == '__main__':
    # get drone sn by run the expamles of /15_multi_robot/multi_drone/01_scan_ip.py

    robot_sn_list = ["0TQZH79ED00H56", "0TQZH79ED00H89"]
    sn_list = []
    battery_list = []
    drone_num = 2
    multi_drone = multi_robot.MultiDrone()
    multi_drone.initialize(robot_num=2)
    multi_drone.number_id_by_sn([0, robot_sn_list[0]], [1, robot_sn_list[1]])
    tello_group = multi_drone.build_group([0, 1])
    multi_drone.run([tello_group, basic_task])
    multi_drone.close()
```

--------------------------------

### Example Program Output Log

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/text_sdk/multi_ctrl.md

This log shows the communication between the host and multiple robots during the execution of the example script. It includes connection attempts, command acknowledgments, and gimbal movement commands.

```text
192.168.1.103 connecting...
192.168.1.103:command seq 1
192.168.1.103:ok seq 1
192.168.1.103:robot mode free seq 2
192.168.1.103:ok seq 2
192.168.1.117 connecting...
192.168.1.117:command seq 1
192.168.1.117:ok seq 1
192.168.1.117:robot mode free seq 2
192.168.1.117:ok seq 2
192.168.1.103:gimbal moveto p 0 y 0 vp 90 vy 90 wait_for_complete false seq 3
192.168.1.103:ok seq 3
192.168.1.117:gimbal moveto p 0 y 0 vp 90 vy 90 wait_for_complete false seq 3
192.168.1.117:ok seq 3

```

--------------------------------

### Post-Release Development Setup

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/release.rst

Commands to push changes after incrementing the version for development.

```bash
git add
```

```bash
git commit
```

```bash
git push
```

--------------------------------

### Configure installation directory

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/CMakeLists.txt

Sets the installation path for headers based on the Python include directory if enabled.

```cmake
option (USE_PYTHON_INCLUDE_DIR "Install pybind11 headers in Python include directory instead of default installation prefix" OFF)
if (USE_PYTHON_INCLUDE_DIR)
    file(RELATIVE_PATH CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX} ${PYTHON_INCLUDE_DIRS})
endif()
```

--------------------------------

### Install RoboMaster Python SDK with Tsinghua Mirror (Windows)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/docs/source/python_sdk/installs.md

If facing network issues during installation on Windows, try this command to use the Tsinghua mirror.

```default
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple robomaster
```

--------------------------------

### Create Library with pybind11 Embed and Install

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt

Defines a library target 'test_embed_lib' from 'embed.cpp', links it with pybind11 embed, and configures installation rules for the library and its export files. This allows the library to be installed and used by other projects.

```cmake
# Test custom export group -- PYBIND11_EXPORT_NAME
add_library(test_embed_lib ../embed.cpp)
target_link_libraries(test_embed_lib PRIVATE pybind11::embed)

install(TARGETS test_embed_lib
        EXPORT  test_export
        ARCHIVE DESTINATION bin
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION lib)
install(EXPORT      test_export
        DESTINATION lib/cmake/test_export/test_export-Targets.cmake)
```

--------------------------------

### RoboMaster SDK Example: Logger Configuration and File Logging

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/python_sdk/log.md

A complete example demonstrating how to enable logging to a file and initialize the robot connection. This script will generate a log file in the program's directory upon execution.

```python
import robomaster
from robomaster import robot


if __name__ == '__main__':
    robomaster.enable_logging_to_file()

    # 如果本地IP 自动获取不正确，手动指定本地IP地址
    # robomaster.config.LOCAL_IP_STR = "192.168.2.20"

    ep_robot = robot.Robot()

    # 指定连接方式为AP 直连模式
    ep_robot.initialize(conn_type='rndis')

    version = ep_robot.get_version()
    print("Robot version: {0}".format(version))
    ep_robot.close()

```

--------------------------------

### Install PySerial for UART

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/text_sdk/connection.md

Command to install the required serial communication library.

```default
pip install pyserial
```

--------------------------------

### Install H.264 Decoder on Windows (Python 3.6)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/README.md

Install the H.264 decoder wheel for Python 3.6 on a 64-bit Windows system using pip.

```bash
pip install libh264decoder-0.0.1-cp36-cp36m-win_amd64.whl
```

--------------------------------

### Create a complete binding module

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Full example of a C++ file including the function and the PYBIND11_MODULE macro.

```cpp
#include <pybind11/pybind11.h>

int add(int i, int j) {
    return i + j;
}

PYBIND11_MODULE(example, m) {
    m.doc() = "pybind11 example plugin"; // optional module docstring

    m.def("add", &add, "A function which adds two numbers");
}
```

--------------------------------

### Install Opus Decoder on Windows (Python 3.6)

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/README.md

Install the Opus decoder wheel for Python 3.6 on a 64-bit Windows system using pip.

```bash
pip install opus_decoder-0.0.1-cp36-cp36m-win_amd64.whl
```

--------------------------------

### Configure USB Connection Script

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/text_sdk/connection.md

Example Python script for initializing a socket connection to the robot over USB.

```python
# -*- encoding: utf-8 -*-
# 测试环境: Python 3.6 版本

import socket
import sys

# USB 模式下，机器人默认 IP 地址为 192.168.42.2, 控制命令端口号为 40923
host = "192.168.42.2"
port = 40923

# other code
```

--------------------------------

### Applying Policies to Properties

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/advanced/functions.md

Examples of how to apply return value policies to class properties.

```APIDOC
## Applying Policies to Properties

### Description
Policies can be applied to properties using `def_property`. You can apply a policy to both getter and setter, or target specific functions using `py::cpp_function`.

### Example: Terse Syntax
```cpp
class_<MyClass>(m, "MyClass")
    .def_property("data", &MyClass::getData, &MyClass::setData,
                  py::return_value_policy::copy);
```

### Example: Targeted Syntax
```cpp
class_<MyClass>(m, "MyClass")
    .def_property("data",
        py::cpp_function(&MyClass::getData, py::return_value_policy::copy),
        py::cpp_function(&MyClass::setData)
    );
```
```

--------------------------------

### Start Camera Video Streaming and Capture Frames

Source: https://context7.com/dji-sdk/robomaster-sdk/llms.txt

Start video streaming from the robot's camera and capture frames for processing using OpenCV. Frames can be read with a specified timeout and strategy. Ensure video streaming is stopped and the robot connection is closed afterwards.

```python
from robomaster import robot
from robomaster import camera
import time
import cv2

ep_robot = robot.Robot()
ep_robot.initialize(conn_type="sta")

ep_camera = ep_robot.camera

# Start video stream with display (resolution: 360p, 540p, or 720p)
ep_camera.start_video_stream(display=True, resolution=camera.STREAM_720P)

# Read frames for processing
for i in range(100):
    # Read frame as OpenCV image (numpy array)
    img = ep_camera.read_cv2_image(timeout=3, strategy="newest")
    if img is not None:
        # Process the image with OpenCV
        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
        cv2.imshow("Processed", gray)
        cv2.waitKey(1)

cv2.destroyAllWindows()
ep_camera.stop_video_stream()
ep_robot.close()
```

--------------------------------

### Import and Use pybind11 Module in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/basics.md

This interactive Python session demonstrates how to import the compiled 'example' module and call the exposed 'add' function.

```pycon
>>> import example
>>> example.add(1, 2)
3L
>>>
```

--------------------------------

### Console Output Log

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/docs/source/text_sdk/multi_ctrl.md

Example of the terminal output showing the connection sequence and command acknowledgments between the host and the robots.

```text
192.168.1.103 connecting...
192.168.1.103:command seq 1
192.168.1.103:ok seq 1
192.168.1.103:robot mode free seq 2
192.168.1.103:ok seq 2
192.168.1.117 connecting...
192.168.1.117:command seq 1
192.168.1.117:ok seq 1
192.168.1.117:robot mode free seq 2
192.168.1.117:ok seq 2
192.168.1.103:gimbal moveto p 0 y 0 vp 90 vy 90 wait_for_complete false seq 3
192.168.1.103:ok seq 3
192.168.1.117:gimbal moveto p 0 y 0 vp 90 vy 90 wait_for_complete false seq 3
192.168.1.117:ok seq 3
```

--------------------------------

### Verify Modularized Bindings in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/faq.md

Example usage of the modularized binding code within a Python interpreter.

```pycon
>>> import example
>>> example.add(1, 2)
3
>>> example.sub(1, 1)
0
```

--------------------------------

### Build H.264 and Opus Decoders on Ubuntu

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/README.md

Execute this script to build the H.264 and Opus decoder libraries on an Ubuntu system. Ensure all dependencies are installed prior to running.

```bash
chmod +x ./build.sh
./build.sh
```

--------------------------------

### Import multi_robot module

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/python_sdk/multi_robot_drone_example.md

Import the multi_robot module from the installed multi_robomaster package to begin controlling multiple drones.

```python
from multi_robomaster import multi_robot
```

--------------------------------

### Building with Setuptools

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/compiling.md

Instructions for building Python projects using setuptools, suitable for projects intended for PyPI.

```APIDOC
## Building with setuptools

For projects on PyPI, building with setuptools is the way to go. Sylvain Corlay has kindly provided an example project which shows how to set up everything, including automatic generation of documentation using Sphinx. Please refer to the [[python_example]](#python-example) repository.
```

--------------------------------

### Complete Audio Recording Routine

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/python_sdk/beginner_ep.md

A full script demonstrating robot initialization, audio recording, and resource cleanup.

```python
from robomaster import robot


if __name__ == '__main__':
    ep_robot = robot.Robot()
    ep_robot.initialize(conn_type="rndis")

    ep_camera = ep_robot.camera

    ep_camera.record_audio(save_file="output.wav", seconds=5, sample_rate=16000)
    ep_robot.close()
```

--------------------------------

### Find Pybind11 Package

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/compiling.md

Use find_package to detect an installed pybind11. This requires pybind11 to be correctly installed on the system.

```cmake
cmake_minimum_required(VERSION 2.8.12)
project(example)

find_package(pybind11 REQUIRED)
pybind11_add_module(example example.cpp)
```

--------------------------------

### Python Usage Example for Custom Type

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/cast/custom.md

Demonstrates how a Python class with an `__int__` method can be used with the custom C++ type caster. Ensure the `example` module is correctly set up.

```python
class A:
    def __int__(self):
        return 123

from example import print
print(A())
```

--------------------------------

### Enter SDK Mode

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/text_sdk/intro.md

To enable SDK control, send the 'command' command to the robot. A successful response is 'ok'. This must be done before sending other SDK control commands.

```Shell
>>> please input SDK cmd: command
ok
```

--------------------------------

### Basic CMake Build Configuration

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt

Sets up the minimum CMake version, project name, and enables pybind11 for embedding. This is the foundational configuration for building the SDK.

```cmake
cmake_minimum_required(VERSION 3.0)
project(test_subdirectory_embed CXX)

set(PYBIND11_INSTALL ON CACHE BOOL "")
set(PYBIND11_EXPORT_NAME test_export)

add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11)
```

--------------------------------

### Initialize Eigen Matrix from buffer

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/pycpp/numpy.md

Demonstrates creating a custom constructor that accepts a py::buffer to initialize an Eigen matrix.

```cpp
/* Bind MatrixXd (or some other Eigen type) to Python */
typedef Eigen::MatrixXd Matrix;

typedef Matrix::Scalar Scalar;
constexpr bool rowMajor = Matrix::Flags & Eigen::RowMajorBit;

py::class_<Matrix>(m, "Matrix", py::buffer_protocol())
    .def("__init__", [](Matrix &m, py::buffer b) {
        typedef Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> Strides;

        /* Request a buffer descriptor from Python */
        py::buffer_info info = b.request();

        /* Some sanity checks ... */
        if (info.format != py::format_descriptor<Scalar>::format())
            throw std::runtime_error("Incompatible format: expected a double array!");

        if (info.ndim != 2)
            throw std::runtime_error("Incompatible buffer dimension!");

        auto strides = Strides(
            info.strides[rowMajor ? 0 : 1] / (py::ssize_t)sizeof(Scalar),
            info.strides[rowMajor ? 1 : 0] / (py::ssize_t)sizeof(Scalar));

        auto map = Eigen::Map<Matrix, 0, Strides>(
            static_cast<Scalar *>(info.ptr), info.shape[0], info.shape[1], strides);

        new (&m) Matrix(map);
    });
```

--------------------------------

### Import and use the module in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Interactive session demonstrating how to import and call the bound function.

```pycon
$ python
Python 2.7.10 (default, Aug 22 2015, 20:33:39)
[GCC 4.2.1 Compatible Apple LLVM 7.0.0 (clang-700.0.59.1)] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import example
>>> example.add(1, 2)
3L
>>>
```

--------------------------------

### Pybind11 Deprecation Warning Example

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/upgrade.md

This is an example of a runtime warning that may appear during module initialization when using deprecated pybind11 features, such as old-style placement-new constructors or pickling functions. The warning is typically only visible in debug builds.

```none
pybind11-bound class 'mymodule.Foo' is using an old-style placement-new '__init__'
which has been deprecated. See the upgrade guide in pybind11's docs.
```

--------------------------------

### GET /sensor_adapter_ctrl/check_condition

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/python/sensor_adapter.md

Checks if a specific sensor adapter condition is currently met.

```APIDOC
## GET /sensor_adapter_ctrl/check_condition

### Description
判断传感器转接模块相应端口引脚脉冲是否为（高/低/跳变）。

### Parameters
- **condition** (object) - Required - 传感器转接模块相应端口引脚的触发条件对象

### Response
- **result** (bool) - 满足条件时返回真，否则返回假
```

--------------------------------

### CMake Project Setup and Pybind11 Module Build

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt

Configures the minimum CMake version, names the project, adds the Pybind11 subdirectory, and builds a Python extension module named 'test_cmake_build' from '../main.cpp'.

```cmake
cmake_minimum_required(VERSION 2.8.12)
project(test_subdirectory_module CXX)

add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11)
pybind11_add_module(test_cmake_build THIN_LTO ../main.cpp)
```

--------------------------------

### Initialize and Connect to Robot

Source: https://context7.com/dji-sdk/robomaster-sdk/llms.txt

Connect to the robot using different network modes and retrieve basic device information.

```python
from robomaster import robot

# Initialize robot with WiFi direct connection (AP mode)
ep_robot = robot.Robot()
ep_robot.initialize(conn_type="ap")

# Get robot information
version = ep_robot.get_version()
sn = ep_robot.get_sn()
print(f"Robot Version: {version}, SN: {sn}")

# Set robot work mode: 'free', 'gimbal_lead', or 'chassis_lead'
ep_robot.set_robot_mode(mode=robot.GIMBAL_LEAD)

# Close connection when done
ep_robot.close()
```

```python
from robomaster import robot

# Station mode - robot and computer on same network
ep_robot = robot.Robot()
ep_robot.initialize(conn_type="sta")

# Or connect via USB RNDIS
# ep_robot.initialize(conn_type="rndis")

# Perform operations...
print(f"Connected to robot at {ep_robot.ip}")

ep_robot.close()
```

--------------------------------

### Execute Python Dictionary Print

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/functions.md

Example usage of the exported print_dict function in Python.

```pycon
>>> print_dict({'foo': 123, 'bar': 'hello'})
key=foo, value=123
key=bar, value=hello
```

--------------------------------

### Armor Plate Sensitivity

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/text_sdk/protocol_api.md

Get the sensitivity of the armor plate's hit detection.

```APIDOC
## GET /sdk/armor/sensitivity

### Description
Gets the sensitivity of the armor plate's hit detection.

### Method
GET

### Endpoint
/sdk/armor/sensitivity

### Parameters
None

### Response
#### Success Response (200)
- **sensitivity** (float) - The current armor plate hit detection sensitivity.

### Response Example
```json
{
  "sensitivity": 5.0
}
```
```

--------------------------------

### GET /sensor_adapter_ctrl/pulse_period

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/python/sensor_adapter.md

Retrieves the pulse duration for a specific port on the sensor adapter module.

```APIDOC
## GET /sensor_adapter_ctrl/pulse_period

### Description
获取传感器转接模块相应端口引脚的脉冲持续时间。

### Parameters
#### Query Parameters
- **board_id** (int) - Required - 传感器转接模块编号，范围为[1:6]
- **port_num** (uint8) - Required - 传感器转接模块上的端口号，范围为[1:2]

### Response
- **duration** (uint32) - 传感器转接模块相应端口引脚的脉冲持续时间，精确度为 1 ms

### Response Example
{
  "duration": 100
}
```

--------------------------------

### Release and Deployment Commands

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/release.rst

Commands used to tag a release and upload distributions to PyPI.

```bash
git tag -a vX.Y.Z -m 'vX.Y.Z release'
```

```bash
git push
```

```bash
git push --tags
```

```bash
python setup.py sdist upload
```

```bash
python setup.py bdist_wheel upload
```

--------------------------------

### 执行多机动作命令

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/python_sdk/multi_robot_drone_example.md

使用 run 方法执行定义好的动作函数，支持多组动作并行执行。

```default
multi_drone.run([multi_drone_group1, base_action_1])
```

```default
def base_action_1(robot_group):
    robot_group.get_sn()
    robot_group.get_battery()
```

```default
multi_drone.run([multi_drone_group1, base_action_1],
                [multi_drone_group2, base_action_2])
```

--------------------------------

### GET /sensor_adapter_ctrl/adc

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/python/sensor_adapter.md

Retrieves the ADC value from a specific port on the sensor adapter module.

```APIDOC
## GET /sensor_adapter_ctrl/adc

### Description
获取传感器转接模块相应端口模拟引脚的 ADC 值。

### Parameters
#### Query Parameters
- **board_id** (int) - Required - 传感器转接模块编号，范围为[1:6]
- **port_num** (uint8) - Required - 传感器转接模块上的端口号，范围为[1:2]
- **wait_for_complete** (bool) - Optional - 是否等待执行完成，默认为 True

### Response
- **value** (uint16) - 传感器转接模块相应端口模拟引脚的 ADC 值，范围为[0:1023]

### Response Example
{
  "value": 512
}
```

--------------------------------

### Verify Pytest Installation

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/tests/CMakeLists.txt

Checks for the presence of pytest and ensures it meets the minimum version requirement.

```cmake
if(NOT PYBIND11_PYTEST_FOUND)
  execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pytest; print(pytest.__version__)"
                  RESULT_VARIABLE pytest_not_found OUTPUT_VARIABLE pytest_version ERROR_QUIET)
  if(pytest_not_found)
    message(FATAL_ERROR "Running the tests requires pytest. Please install it manually"
                        " (try: ${PYTHON_EXECUTABLE} -m pip install pytest)")
  elseif(pytest_version VERSION_LESS 3.0)
    message(FATAL_ERROR "Running the tests requires pytest >= 3.0. Found: ${pytest_version}"
                        "Please update it (try: ${PYTHON_EXECUTABLE} -m pip install -U pytest)")
  endif()
  set(PYBIND11_PYTEST_FOUND TRUE CACHE INTERNAL "")
endif()
```

--------------------------------

### Override virtual methods in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/classes.md

Example of extending the C++ Animal class within Python.

```pycon
>>> from example import *
>>> d = Dog()
>>> call_go(d)
u'woof! woof! woof! '
>>> class Cat(Animal):
...     def go(self, n_times):
...             return "meow! " * n_times
...
>>> c = Cat()
>>> call_go(c)
u'meow! meow! meow! '
```

--------------------------------

### UART 明文 SDK 通信测试

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/docs/source/extension_module/uart.md

通过串口发送 command; 指令以验证明文 SDK 是否解析成功，成功时应收到 ok 响应。

```text
command;
```

--------------------------------

### Pass character literals from Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/cast/strings.md

Examples of passing characters to bound C++ functions from Python.

```python
>>> example.pass_char('A')
'A'
```

--------------------------------

### SDK 模式控制指令交互

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/docs/source/text_sdk/intro.md

展示了通过 SDK 交互界面进入模式、执行动作及退出的指令序列。

```default
>>> please input SDK cmd: command
ok
```

```default
>>> please input SDK cmd: blaster fire
ok
```

```default
>>> please input SDK cmd: quit
ok
```

--------------------------------

### Pickle a C++ Object in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/classes.md

Example of using the pickle module to serialize a bound C++ object.

```python
try:
    import cPickle as pickle  # Use cPickle on Python 2.7
except ImportError:
    import pickle

p = Pickleable("test_value")
p.setExtra(15)
data = pickle.dumps(p, 2)
```

--------------------------------

### Call bound functions with keyword arguments

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Demonstrates calling the bound function from Python using keyword arguments.

```pycon
>>> import example
>>> example.add(i=1, j=2)
3L
```

--------------------------------

### Define a C++ Pet struct

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/classes.md

A simple C++ struct definition to be used for Python binding examples.

```cpp
struct Pet {
    Pet(const std::string &name) : name(name) { }
    void setName(const std::string &name_) { name = name_; }
    const std::string &getName() const { return name; }

    std::string name;
};
```

--------------------------------

### Apply Return Value Policy to Properties

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/functions.md

Demonstrates applying a return value policy to a property getter using the concise syntax.

```cpp
class_<MyClass>(m, "MyClass")
    .def_property("data", &MyClass::getData, &MyClass::setData,
                  py::return_value_policy::copy);
```

--------------------------------

### 设置无人机LED模块

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/python_sdk/multi_robot_drone_example.md

通过 set_led 接口控制无人机灯光，支持统一设置或通过字典为不同飞机设置不同颜色。

```python
def base_action_1(robot_group):
    robot_group.set_led(255, 255, 255)
    time.sleep(2)
    robot_group.set_led(command_dict={1: [255, 0, 0], 2: [255, 255, 0]})
```

```python
import time
from multi_robomaster import multi_robot


def base_action_1(robot_group):
    robot_group.set_led(255, 255, 255)
    time.sleep(2)
    robot_group.set_led(command_dict={1: [255, 0, 0], 2: [255, 255, 0]})


if __name__ == '__main__':
    # get drone sn by run the expamles of /15_multi_robot/multi_drone/01_scan_ip.py

    robot_sn_list = ["0TQZH79ED00H56", "0TQZH79ED00H89"]
    multi_drone = multi_robot.MultiDrone()
    multi_drone.initialize(robot_num=2)
    multi_drone.number_id_by_sn([1, robot_sn_list[0]], [2, robot_sn_list[1]])
    multi_drone_group1 = multi_drone.build_group([1, 2])
    multi_drone.run([multi_drone_group1, base_action_1])
    multi_drone.close()
```

--------------------------------

### Incorrect binding example

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/classes.md

Demonstrates an incorrect approach where the trampoline method is bound instead of the base class method.

```cpp
py::class_<Animal, PyAnimal /* <--- trampoline*/>(m, "Animal");
    .def(py::init<>())
    .def("go", &PyAnimal::go); /* <--- THIS IS WRONG, use &Animal::go */
```

--------------------------------

### Use keyword arguments in Python and C++

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/advanced/pycpp/object.md

Demonstrates keyword argument syntax in Python compared to the C++ literal _a syntax.

```python
def f(number, say, to):
    ...  # function code

f(1234, say="hello", to=some_instance)  # keyword call in Python
```

```cpp
using namespace pybind11::literals; // to bring in the `_a` literal
f(1234, "say"_a="hello", "to"_a=some_instance); // keyword call in C++
```

--------------------------------

### Define inheritance in a single module

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/advanced/misc.md

Basic example of defining a base class and a derived class within the same module.

```cpp
py::class_<Pet> pet(m, "Pet");
pet.def(py::init<const std::string &>())
   .def_readwrite("name", &Pet::name);

py::class_<Dog>(m, "Dog", pet /* <- specify parent */)
    .def(py::init<const std::string &>())
    .def("bark", &Dog::bark);
```

--------------------------------

### Inspect function signatures in Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Use the help function to view the generated function signatures and documentation.

```pycon
>>> help(example)

....

FUNCTIONS
    add(...)
        Signature : (i: int, j: int) -> int

        A function which adds two numbers
```

--------------------------------

### Bind a C++ class to Python

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/classes.md

Basic pybind11 module setup to expose a C++ class and its methods to Python.

```cpp
#include <pybind11/pybind11.h>

namespace py = pybind11;

PYBIND11_MODULE(example, m) {
    py::class_<Pet>(m, "Pet")
        .def(py::init<const std::string &>())
        .def("setName", &Pet::setName)
        .def("getName", &Pet::getName);
}
```

--------------------------------

### Preferred Module Entry Point: PYBIND11_MODULE

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/changelog.md

Use PYBIND11_MODULE as the preferred macro for creating module entry points. The older PYBIND11_PLUGIN macro is deprecated.

```cpp
// new
PYBIND11_MODULE(example, m) {
    m.def("add", [](int a, int b) { return a + b; });
}

// old
PYBIND11_PLUGIN(example) {
    py::module m("example");
    m.def("add", [](int a, int b) { return a + b; });
    return m.ptr();
}
```

--------------------------------

### Define C++ Class for Benchmarking

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/lib/libmedia_codec/pybind11/docs/benchmark.md

Example of a C++ class definition with multiple methods, used in the benchmark to generate bindings.

```cpp
class cl034 {
public:
    cl279 *fn_000(cl084 *, cl057 *, cl065 *, cl042 *);
    cl025 *fn_001(cl098 *, cl262 *, cl414 *, cl121 *);
    cl085 *fn_002(cl445 *, cl297 *, cl145 *, cl421 *);
    cl470 *fn_003(cl200 *, cl323 *, cl332 *, cl492 *);
};
```

--------------------------------

### Compile test cases on Windows

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/src/pybind11/docs/basics.md

Commands to build and run tests using CMake on Windows.

```batch
mkdir build
cd build
cmake ..
cmake --build . --config Release --target check
```

--------------------------------

### Define pybind11 class bindings

Source: https://github.com/dji-sdk/robomaster-sdk/blob/master/examples/plaintext_sample_code/RoboMasterEP/stream/decoder/ubuntu/src/pybind11/docs/benchmark.md

Example of binding a C++ class with multiple methods using the pybind11 module macro.

```cpp
...
class cl034 {
public:
    cl279 *fn_000(cl084 *, cl057 *, cl065 *, cl042 *);
    cl025 *fn_001(cl098 *, cl262 *, cl414 *, cl121 *);
    cl085 *fn_002(cl445 *, cl297 *, cl145 *, cl421 *);
    cl470 *fn_003(cl200 *, cl323 *, cl332 *, cl492 *);
};
...

PYBIND11_MODULE(example, m) {
    ...
    py::class_<cl034>(m, "cl034")
        .def("fn_000", &cl034::fn_000)
        .def("fn_001", &cl034::fn_001)
        .def("fn_002", &cl034::fn_002)
        .def("fn_003", &cl034::fn_003)
    ...
}
```