init

build/build_exe.bat

@@ -0,0 +1,19 @@
+@echo off
+setlocal
+cd /d "%~dp0.."
+call conda activate py311
+if errorlevel 1 (
+    echo Failed to activate conda environment: py311
+    pause
+    exit /b 1
+)
+python "%~dp0build_exe.py" %*
+if errorlevel 1 (
+    echo.
+    echo Build failed.
+    pause
+    exit /b 1
+)
+echo.
+echo Build finished.
+pause

build/build_exe.ps1

@@ -0,0 +1,19 @@
+param(
+    [string]$CondaEnv = "py311"
+)
+
+$ErrorActionPreference = "Stop"
+
+$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
+$ProjectRoot = Split-Path -Parent $ScriptDir
+
+Set-Location $ProjectRoot
+
+Write-Host "Project root: $ProjectRoot"
+Write-Host "Conda env:    $CondaEnv"
+
+$ForwardArgs = $args -join " "
+cmd /d /s /c "call conda activate $CondaEnv && python `"$ScriptDir\build_exe.py`" $ForwardArgs"
+if ($LASTEXITCODE -ne 0) {
+    throw "build failed"
+}

build/build_exe.py

@@ -0,0 +1,123 @@
+import argparse
+import importlib.util
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+
+BUILD_DIR = Path(__file__).resolve().parent
+PROJECT_ROOT = BUILD_DIR.parent
+
+
+def module_exists(name):
+    return importlib.util.find_spec(name) is not None
+
+
+def require_module(name, install_hint):
+    if module_exists(name):
+        return
+    raise SystemExit(f"Missing module '{name}'. Install it first: {install_hint}")
+
+
+def data_arg(source, target):
+    return f"{source};{target}"
+
+
+def copy_runtime_dir(source, app_dir, name):
+    target = app_dir / name
+    if target.exists():
+        shutil.rmtree(target)
+    shutil.copytree(
+        source,
+        target,
+        ignore=shutil.ignore_patterns("__pycache__", "*.pyc"),
+    )
+    return target
+
+
+def build(app_name, clean_dist):
+    require_module("PyInstaller", "pip install pyinstaller")
+
+    dist_dir = PROJECT_ROOT / "dist"
+    work_dir = BUILD_DIR / "_pyinstaller"
+    launcher = BUILD_DIR / "run_visualizer.py"
+
+    if clean_dist:
+        app_dist = dist_dir / app_name
+        if app_dist.exists():
+            shutil.rmtree(app_dist)
+
+    args = [
+        sys.executable,
+        "-m",
+        "PyInstaller",
+        "--noconfirm",
+        "--clean",
+        "--onedir",
+        "--windowed",
+        "--name",
+        app_name,
+        "--distpath",
+        str(dist_dir),
+        "--workpath",
+        str(work_dir),
+        "--specpath",
+        str(BUILD_DIR),
+        "--paths",
+        str(PROJECT_ROOT),
+        "--paths",
+        str(PROJECT_ROOT / "sdk"),
+        "--add-data",
+        data_arg(PROJECT_ROOT / "config", "config"),
+        "--add-data",
+        data_arg(PROJECT_ROOT / "sdk", "sdk"),
+        "--hidden-import",
+        "changingtek_p_rtu_Servo",
+        "--hidden-import",
+        "minimalmodbus",
+        "--hidden-import",
+        "serial",
+        "--hidden-import",
+        "cv2",
+        "--hidden-import",
+        "numpy",
+        "--collect-all",
+        "PyQt5",
+        "--collect-all",
+        "pyqtgraph",
+    ]
+
+    if module_exists("orisys"):
+        args.extend(["--collect-submodules", "orisys"])
+    else:
+        print("Warning: module 'orisys' was not found; camera runtime may fail unless it is installed.")
+
+    args.append(str(launcher))
+
+    subprocess.run(args, cwd=PROJECT_ROOT, check=True)
+
+    exe_path = dist_dir / app_name / f"{app_name}.exe"
+    if not exe_path.exists():
+        raise SystemExit(f"Build finished but exe was not found: {exe_path}")
+
+    app_dir = exe_path.parent
+    config_dir = copy_runtime_dir(PROJECT_ROOT / "config", app_dir, "config")
+    sdk_dir = copy_runtime_dir(PROJECT_ROOT / "sdk", app_dir, "sdk")
+
+    print()
+    print(f"Build complete: {exe_path}")
+    print(f"Runtime config copied to: {config_dir}")
+    print(f"Runtime sdk copied to: {sdk_dir}")
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--name", default="GripperDemo02", help="Output exe/app folder name.")
+    parser.add_argument("--clean-dist", action="store_true", help="Delete dist/<name> before building.")
+    args = parser.parse_args()
+    build(args.name, args.clean_dist)
+
+
+if __name__ == "__main__":
+    main()

build/run_visualizer.py

@@ -0,0 +1,15 @@
+import multiprocessing as mp
+import os
+import sys
+from pathlib import Path
+
+
+if getattr(sys, "frozen", False):
+    os.chdir(Path(sys.executable).resolve().parent)
+
+from gripper.visualizer import main
+
+
+if __name__ == "__main__":
+    mp.freeze_support()
+    raise SystemExit(main(sys.argv[1:]))