有的时候，为了对python文件进行加密，会把python模块编译成.pyd文件，供其他人调用。拿到一个.pyd文件，在没有文档说明的情况下，可以试试查看模块内的一些函数和类的用法。
首先 import XXX（pyd的文件名)
然后直接
print(dir(XXX))
print(help(xxx))
其中dir( ) 列出了属性和方法
而hlep()直接列出了其中的函数以及参数，并且是源码的函数名和类型，非常直观。
例如我这里的一个例子，输出如下：
['RC', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__spec__', 'call_func', 'collision_recover', 'disable_robot', 'drag_mode_enable', 'enable_robot', 'get_analog_input', 'get_analog_output', 'get_collision_level', 'get_current_line', 'get_digital_input', 'get_digital_output', 'get_joint_position', 'get_loaded_program', 'get_payload', 'get_program_state', 'get_rapidrate', 'get_robot_state', 'get_sdk_version', 'get_tcp_position', 'get_tool_id', 'get_user_frame_id', 'is_extio_running', 'is_in_collision', 'is_in_drag_mode', 'is_in_pos', 'is_on_limit', 'jog', 'jog_stop', 'joint_move', 'kine_forward', 'kine_inverse', 'linear_move', 'login', 'logout', 'power_off', 'power_on', 'program_abort', 'program_load', 'program_pause', 'program_resume', 'program_run', 'quaternion_to_rot_matrix', 'rot_matrix_to_quaternion', 'rot_matrix_to_rpy', 'rpy_to_rot_matrix', 'servo_j', 'servo_move_enable', 'servo_p', 'set_analog_output', 'set_collision_level', 'set_digital_output', 'set_error_handler', 'set_payload', 'set_rapidrate', 'set_tool_data', 'set_tool_id', 'set_user_frame_data', 'set_user_frame_id', 'shut_down', 'torque_control_enable', 'torque_feedforward']
Help on module jkrc:
NAME
jkrc - Example module that creates an extension type.
CLASSES
builtins.object
RC
class RC(builtins.object)
| RC objects
|
| Methods defined here:
|
| __init__(self, /, *args, **kwargs)
| Initialize self. See help(type(self)) for accurate signature.
|
| call_func(...)
| description
|
| collision_recover(...)
| description
|
| disable_robot(...)
| description
|
| drag_mode_enable(...)
| description
|
| enable_robot(...)
| description
|
| get_analog_input(...)
| description
|
| get_analog_output(...)
| description
|
| get_collision_level(...)
| description
|
| get_current_line(...)
| description
|
| get_digital_input(...)
| description
|
| get_digital_output(...)
| description
|
| get_joint_position(...)
| description
|
| get_loaded_program(...)
| description
|
| get_payload(...)
| description
|
| get_program_state(...)
| description
|
| get_rapidrate(...)
| description
|
| get_robot_state(...)
| description
|
| get_sdk_version(...)
| description
|
| get_tcp_position(...)
| description
|
| get_tool_id(...)
| description
|
| get_user_frame_id(...)
| description
|
| is_extio_running(...)
| description
|
| is_in_collision(...)
| description
|
| is_in_drag_mode(...)
| description
|
| is_in_pos(...)
| description
|
| is_on_limit(...)
| description
|
| jog(...)
| description
|
| jog_stop(...)
| description
|
| joint_move(...)
| description
|
| kine_forward(...)
| description
|
| kine_inverse(...)
| description
|
| linear_move(...)
| description
|
| login(...)
| Log in the specified robot
|
| logout(...)
| Log out the specified robot
|
| power_off(...)
| description
|
| power_on(...)
| description
|
| program_abort(...)
| description
|
| program_load(...)
| description
|
| program_pause(...)
| description
|
| program_resume(...)
| description
|
| program_run(...)
| description
|
| quaternion_to_rot_matrix(...)
| description
|
| rot_matrix_to_quaternion(...)
| description
|
| rot_matrix_to_rpy(...)
| description
|
| rpy_to_rot_matrix(...)
| description
|
| servo_j(...)
| description
|
| servo_move_enable(...)
| description
|
| servo_p(...)
| description
|
| set_analog_output(...)
| description
|
| set_collision_level(...)
| description
|
| set_digital_output(...)
| description
|
| set_error_handler(...)
| description
|
| set_payload(...)
| description
|
| set_rapidrate(...)
| description
|
| set_tool_data(...)
| description
|
| set_tool_id(...)
| description
|
| set_user_frame_data(...)
| description
.......
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