Use fastcrc, instead of custom implementation, make modules proper python, and use prebuild cyclonedds

.gitignore

@@ -36,4 +36,6 @@ __pycache__
 .idea/
 
 # python
-dist/
+dist/
+
+uv.lock

pyproject.toml

@@ -1,3 +1,30 @@
+[project]
+name = "unitree_sdk2py"
+version = "1.0.1"
+description = "Unitree robot sdk version 2 for python"
+readme = { file = "README.md", content-type = "text/markdown" }
+requires-python = ">=3.9"
+license = { text = "BSD-3-Clause" }
+authors = [
+  { name = "UnitreeRobotics", email = "[email protected]" }
+]
+dependencies = [
+  "cyclonedds @ https://github.com/carlosdp/cyclonedds-python/releases/download/0.10.5/cyclonedds-0.10.5-cp312-cp312-macosx_10_9_x86_64.whl ; platform_system == 'Darwin' and platform_machine == 'x86_64'",
+  "cyclonedds @ https://github.com/carlosdp/cyclonedds-python/releases/download/0.10.5/cyclonedds-0.10.5-cp312-cp312-macosx_11_0_arm64.whl ; platform_system == 'Darwin' and platform_machine == 'arm64'",
+  "cyclonedds @ https://github.com/carlosdp/cyclonedds-python/releases/download/0.10.5/cyclonedds-0.10.5-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl ; sys_platform == 'linux' and platform_machine == 'aarch64'",
+  "cyclonedds @ https://github.com/carlosdp/cyclonedds-python/releases/download/0.10.5/cyclonedds-0.10.5-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl ; sys_platform == 'linux' and platform_machine == 'x86_64'",
+  "fastcrc>=0.3.2",
+  "numpy",
+  "opencv-python",
+]
+
+[project.urls]
+"Source Code" = "https://github.com/unitreerobotics/unitree_sdk2_python"
+
 [build-system]
-requires = ["setuptools", "wheel"]
-build-backend = "setuptools.build_meta"
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools.packages.find]
+include = ["unitree_sdk2py", "unitree_sdk2py.*"]
+

unitree_sdk2py/utils/crc.py

@@ -1,16 +1,13 @@
 import struct
-import cyclonedds
 import cyclonedds.idl as idl
+from fastcrc import crc32
 
 from .singleton import Singleton
 from ..idl.unitree_go.msg.dds_ import LowCmd_
 from ..idl.unitree_go.msg.dds_ import LowState_
 
 from ..idl.unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_
 from ..idl.unitree_hg.msg.dds_ import LowState_ as HGLowState_
-import ctypes
-import os
-import platform
 
 class CRC(Singleton):
     def __init__(self):
@@ -25,17 +22,6 @@ def __init__(self):
         self.__packFmtHGLowState = '<2I2B2xI' + '13fh2x' + 'B3x4f2hf7I' * 35 + '40B5I'
 
 
-        script_dir = os.path.dirname(os.path.abspath(__file__))
-        self.platform = platform.system()
-        if self.platform == "Linux":
-            if platform.machine()=="x86_64":
-                self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_amd64.so')
-            elif platform.machine()=="aarch64":
-                self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_aarch64.so')
-
-            self.crc_lib.crc32_core.argtypes = (ctypes.POINTER(ctypes.c_uint32), ctypes.c_uint32)
-            self.crc_lib.crc32_core.restype = ctypes.c_uint32
-
     def Crc(self, msg: idl.IdlStruct):
         if msg.__idl_typename__ == 'unitree_go.msg.dds_.LowCmd_':
             return self.__Crc32(self.__PackLowCmd(msg))
@@ -192,37 +178,14 @@ def __Trans(self, packData):
 
         return calcData
 
-    def _crc_py(self, data):
-        bit = 0
-        crc = 0xFFFFFFFF
-        polynomial = 0x04c11db7
-
-        for i in range(len(data)):
-            bit = 1 << 31
-            current = data[i]
-
-            for b in range(32):
-                if crc & 0x80000000:
-                    crc = (crc << 1) & 0xFFFFFFFF
-                    crc ^= polynomial
-                else:
-                    crc = (crc << 1) & 0xFFFFFFFF
+    def __Crc32(self, data):
+        return crc32.mpeg_2(words_to_bytes(data))
 
-                if current & bit:
-                    crc ^= polynomial
 
-                bit >>= 1
-
-        return crc
+def words_to_bytes(data):
+    """
+    Convert a list of 32-bit integers (data[i]) into bytes,
+    in big-endian order, matching the _crc_py bit processing.
+    """
+    return b"".join(word.to_bytes(4, byteorder="big") for word in data)
 
-    def _crc_ctypes(self, data):
-        uint32_array = (ctypes.c_uint32 * len(data))(*data)
-        length = len(data)
-        crc=self.crc_lib.crc32_core(uint32_array, length)
-        return crc
-
-    def __Crc32(self, data):
-        if self.platform == "Linux":
-            return self._crc_ctypes(data)
-        else:
-            return self._crc_py(data)