carm 0.0.20250812__py3-none-any.whl → 0.0.20250822__py3-none-any.whl

carm/carm.py

@@ -2,6 +2,7 @@ import websocket
 import threading
 import json
 import uuid
+import time
 
 class Carm:
     def __init__(self, addr = "ws://100.84.147.120:8090"):
@@ -22,7 +23,7 @@ class Carm:
         self.res_pool  = {}
         self.task_pool = {}
 
-        self.reader = threading.Thread(target=self.recv_loop).start()
+        self.reader = threading.Thread(target=self.recv_loop, daemon=True).start()
         self.open_ready = threading.Event()
         self.open_ready.wait()
         self.limit = self.get_limits()["params"]
@@ -42,6 +43,8 @@ class Carm:
                              "type":"version"})
 
     def set_ready(self):
+        while self.state is None:
+            time.sleep(0.1)
         arm = self.state["arm"][0]
         if arm["fsm_state"] == "POSITION" or arm["fsm_state"] == "MIT":
             return True
@@ -204,6 +207,20 @@ class Carm:
             self.wait_task(res["task_key"])
 
         return res
+    
+
+    def move_line(self, pos, speed=50, sync=True, user=0, tool=0):
+        res =  self.request({"command":"webRecieveTasks",
+                             "task_id":"TASK_MOVL",
+                             "task_level":"Task_General",
+                             "arm_index":0,
+                             "point_type":{"space":1},
+                             "data":{"user":user,"tool":tool, "target_pos": pos, "speed":speed}}) 
+        
+        if sync and res["recv"]=="Task_Recieve":
+            self.wait_task(res["task_key"])
+
+        return res
         
     def wait_task(self, task_key):
         event = threading.Event()

carm-0.0.20250812.data/scripts/carm → carm/carm_dds.py

@@ -1,4 +1,4 @@
-#!python
+#!/usr/bin/python3
 import time
 import os
 import argparse
@@ -48,7 +48,7 @@ class ArmDriver:
             time.sleep(0.005)
 
 def send_cmd(args):
-    arm       = carm.Carm(args.addr,mit=args.mit)
+    arm       = carm.Carm(args.addr)
 
     cmd = args.cmd
 
@@ -72,10 +72,7 @@ def driver_main(args):
     
     driver.loop()
     
-    
-    
-# 测试代码
-if __name__ == "__main__":
+def main():
     parser = argparse.ArgumentParser()
     parser.add_argument("--addr", type=str, default="ws://localhost:8090", help="Device address, including ip and port")
     parser.add_argument("--cmd", type=str, default="", help="Send command instead of start driver, support enable,disable,remote")
@@ -102,5 +99,10 @@ if __name__ == "__main__":
         driver_main(args)
     else:
         send_cmd(args)
+   
+    
+# 测试代码
+if __name__ == "__main__":
+    main()
     
     

carm-0.0.20250812.data/scripts/carm_ros2 → carm/carm_ros2.py

@@ -1,4 +1,4 @@
-#!python
+#!/usr/bin/python3
 import rclpy
 from rclpy.node import Node
 import time
@@ -19,7 +19,7 @@ class ArmDriver(Node):
         
         self.arm       = carm.Carm(args.addr)
         if args.mit:
-            self.arm.set_control_mode(3)
+            self.arm.set_control_mode(2)
         else:
             self.arm.set_control_mode(1)
 
@@ -60,9 +60,8 @@ class ArmDriver(Node):
             self.pub_end.publish(end_msg)
 
             time.sleep(0.005)
-   
-# 测试代码
-if __name__ == "__main__":
+
+def main():
     parser = argparse.ArgumentParser()
     parser.add_argument("--addr", type=str, default="ws://localhost:8090", help="Device address, including ip and port")
     parser.add_argument("--device", type=str, default="carm", help="device name, used as topic prefix")
@@ -90,5 +89,8 @@ if __name__ == "__main__":
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()
-    
+
+# 测试代码
+if __name__ == "__main__":
+    main()
     

carm-0.0.20250822.dist-info/METADATA

@@ -0,0 +1,11 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.0.20250822
+Summary: Python interface for cvte arm.
+Author-email: Yong Zhao <zhaoyong11933@cvte.com>
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Programming Language :: Python :: Implementation :: PyPy
+Requires-Python: >=3.6
+Requires-Dist: websocket-client
+

carm-0.0.20250822.dist-info/RECORD

@@ -0,0 +1,9 @@
+carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
+carm/carm.py,sha256=8PaBSryLOW9RPzz8o5KUqHiGdPONGiw9HuCJvdWMQgg,10978
+carm/carm_dds.py,sha256=1LTwExF3fuRfjI_Ev8P5TVrv62mxiFRwPdEmeyySbM8,4107
+carm/carm_ros2.py,sha256=IxQD4pglxCH2Vbfj6mm2DlV8KgkqMnS0k1-mIICV8I8,3709
+carm-0.0.20250822.dist-info/METADATA,sha256=RhO7IwJGvpxCOhaOrqDCcSyPYFpnPms2KHqlLqHAJSo,389
+carm-0.0.20250822.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+carm-0.0.20250822.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
+carm-0.0.20250822.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
+carm-0.0.20250822.dist-info/RECORD,,

carm-0.0.20250822.dist-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+carm = carm.carm_dds:main
+carm_ros2 = carm.carm_ros2:main

carm/carm_driver.py

@@ -1,303 +0,0 @@
-import websocket
-import threading
-import json
-import uuid
-
-class Carm:
-    def __init__(self, addr = "ws://100.84.147.120:8090"):
-        self.state = None
-        self.last_msg = None
-        self.ws = websocket.WebSocketApp(
-            addr,  # 测试用的公开WebSocket服务
-            on_open   = lambda ws: self.on_open(ws),
-            on_close  = lambda ws, code, close_msg: self.on_close(ws, code, close_msg),
-            on_message= lambda ws, msg: self.on_message(ws, msg),
-        )
-
-        self.ops = {
-            "webSendRobotState": lambda msg: self.cbk_status(msg),
-            "taskFinished": lambda msg: self.cbk_taskfinish(msg),
-            "onCarmError": lambda msg: print("Error:", msg)
-        }
-        self.res_pool  = {}
-        self.task_pool = {}
-
-        self.reader = threading.Thread(target=self.recv_loop).start()
-        self.open_ready = threading.Event()
-        self.open_ready.wait()
-        self.limit = self.get_limits()["params"]
-
-        self.set_ready()
-
-    @property
-    def version(self):
-        return self.request({"command":"getArmIntrinsicProperties",
-                             "arm_index":0,
-                             "type":"version"})
-    
-
-    def get_limits(self):
-        return self.request({"command":"getJointParams",
-                             "arm_index":0,
-                             "type":"version"})
-
-    def set_ready(self):
-        arm = self.state["arm"][0]
-        if arm["fsm_state"] == "POSITION" or arm["fsm_state"] == "MIT":
-            return True
-        
-        if arm["fsm_state"] == "ERROR":
-            self.clean_carm_error()
-        
-        if arm["fsm_state"] == "IDLE":
-            self.set_servo_enable(True)
-
-        return self.set_control_mode(1)
-
-    def set_servo_enable(self, enable=True):
-        return self.request({"command":"setServoEnable",
-                             "arm_index":0,
-                             "enable":enable})
-    
-    def set_control_mode(self, mode=1):
-        return self.request({"command":"setControlMode",
-                             "arm_index":0,
-                             "mode":mode})
-    
-    def set_end_effector(self, pos, tau):
-        pos = self.__clip(pos, 0, 0.08)
-        tau = self.__clip(tau, 0, 9)
-
-        return self.request({"command":"setEffectorCtr",
-                             "arm_index":0,
-                             "pos": pos,
-                             "tau": tau})
-    
-    def get_tool_coordinate(self, tool):
-        return self.request({"command":"getCoordinate",
-                             "arm_index":0,
-                             "type": "tool",
-                             "index": tool})
-
-    
-    def set_collision_config(self, flag = True, level = 10):
-        return self.request({"command":"setCollisionConfig",
-                             "arm_index":0,
-                             "flag": flag,
-                             "level": level})
-    
-    def stop(self, type=0):
-        stop_id = ["SIG_ARM_PAUSE", "SIG_ARM_STOP", 
-                   "SIG_ARM_DISABLE","SIG_EMERGENCY_STOP"]
-        return self.request({"command":"stopSignals",
-                             "arm_index":0,
-                             "stop_id":  stop_id[type],
-                             "step_cnt":5})
-    
-    def stop_task(self, at_once=False):
-        return self.request({"command":"stopSignals",
-                             "arm_index":0,
-                             "stop_id": "SIG_TASK_STOP",
-                             "stop_at_once": at_once})
-    
-    def recover(self):
-        return self.request({"command":"stopSignals",
-                             "arm_index":0,
-                             "stop_id": "SIG_ARM_RECOVER",
-                             "step_cnt": 5})
-    
-    def clean_carm_error(self):
-        return self.request({"command":"setControllerErrorReset",
-                             "arm_index":0})
-    
-    def set_speed_level(self, level, response_level):
-        return self.request({"command":"setSpeedLevel",
-                             "arm_index":0,
-                             "level":level,
-                             "response_level":response_level})
-    
-    def set_debug(self, flag):
-        return self.request({"command":"setDebugMode",
-                             "arm_index":0,
-                             "trigger":flag})
-
-    def get_urdf(self):
-        return self.request({"command":"getArmIntrinsicProperties",
-                             "arm_index":0,
-                             "type":"urdf"})   
-    @property
-    def joint_pos(self):
-        return self.state["arm"][0]["reality"]["pose"]
-    
-    @property
-    def joint_vel(self):
-        return self.state["arm"][0]["reality"]["vel"]
-    
-    @property
-    def joint_tau(self):
-        return self.state["arm"][0]["reality"]["torque"]
-    
-    @property
-    def cart_pose(self):
-        return self.state["arm"][0]["pose"]
-    
-    @property
-    def gripper_state(self):
-        return self.state["arm"][0]["gripper"]
-    
-    def clip_joints(self, joints):
-        lower = self.limit['limit_lower']
-        upper = self.limit["limit_upper"]
-        for i,v in enumerate(joints):
-            joints[i] = self.__clip(v, lower[i], upper[i])
-        return joints
-    
-    def track_joint(self, pos, end_effector = -1):
-        pos = self.clip_joints(pos)
-        req = {"command":"trajectoryTrackingTasks",
-               "task_id":"TASK_TRACKING",
-               "arm_index":0,
-               "point_type":{"space":0},
-               "data":{"way_point": pos}}
-        
-        if end_effector >= 0:
-            req["data"]["eeffe_point"] = end_effector
-
-        return self.request(req)
-    
-    def track_pose(self, pos, end_effector = -1):
-        req = {"command":"trajectoryTrackingTasks",
-               "task_id":"TASK_TRACKING",
-               "arm_index":0,
-               "point_type":{"space":1},
-               "data":{"way_point": pos}}
-        
-        if end_effector > 0:
-            req["data"]["eeffe_point"] = end_effector
-
-        return self.request(req)
-
-    def move_joint(self, pos, tm=-1, sync=True, user=0, tool=0):
-        pos = self.clip_joints(pos)
-        
-        res =  self.request({"command":"webRecieveTasks",
-                             "task_id":"TASK_MOVJ",
-                             "task_level":"Task_General",
-                             "arm_index":0,
-                             "point_type":{"space":0},
-                             "data":{"user":user,"tool":tool, "target_pos": pos, "speed":100}}) 
-        
-        if sync and res["recv"]=="Task_Recieve":
-            self.wait_task(res["task_key"])
-
-        return res
-
-    def move_pose(self, pos, tm=-1, sync=True, user=0, tool=0):
-        res =  self.request({"command":"webRecieveTasks",
-                             "task_id":"TASK_MOVJ",
-                             "task_level":"Task_General",
-                             "arm_index":0,
-                             "point_type":{"space":1},
-                             "data":{"user":user,"tool":tool, "target_pos": pos, "speed":100}}) 
-        
-        if sync and res["recv"]=="Task_Recieve":
-            self.wait_task(res["task_key"])
-
-        return res
-        
-    def wait_task(self, task_key):
-        event = threading.Event()
-        self.task_pool[task_key] = {"event":event}
-        event.wait()
-        self.task_pool.pop(task_key)
-    
-    def move_joint_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
-        if len(stamps) != len(target_traj): # as soon as possible
-            return self.move_toppra(target_traj, gripper_pos, 100, is_sync)
-        else:
-            return self.move_pvt(target_traj, gripper_pos, stamps, is_sync)        
-    
-    def move_pose_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
-        if len(stamps) != len(target_traj): # as soon as possible
-            return self.move_toppra(target_traj, gripper_pos, 100, is_sync)
-        else:
-            return self.move_pvt(target_traj, gripper_pos, stamps, is_sync)
-        
-    def move_toppra(self, target_traj, gripper_pos = [], speed = [], is_sync=True):
-        pass # TODO
-
-    def move_pvt(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
-        pass # TODO
-
-    def invK(self, cart_pose, ref_joints, user=0, tool=0):
-        if not type(cart_pose[0]) is list:
-            cart_pose = [cart_pose, ]
-        assert(len(cart_pose) == len(ref_joints))
-        return self.request({"command":"getKinematics",
-                             "task_id":"inverse",
-                             "arm_index":0,
-                             "data":{"user":user,"tool":tool,"point_cnt":len(cart_pose)}})
-
-    def request(self, req):
-        event = threading.Event()
-        task_key = str(uuid.uuid4())
-        req["task_key"] = task_key
-        self.res_pool[task_key] = {"req":req,"event":event}
-
-        self.send(req)
-
-        event.wait()
-        return self.res_pool.pop(task_key)["res"]
-        
-    def send(self, msg):
-        self.ws.send(json.dumps(msg))
-        
-    def cbk_status(self, message):
-        self.state = message
-
-    def cbk_taskfinish(self, message):
-        task = message["task_key"]
-        self.task_pool[task]["event"].set()
-        
-    def on_open(self, ws):
-        self.open_ready.set()
-        print("连接成功")
-
-    def on_close(self, ws, code, close_msg):
-        print("连接断开",code, close_msg)
-
-    def on_message(self, ws, message):
-        msg = json.loads(message)
-        self.last_msg = msg
-        cmd = msg["command"]
-        op = self.ops.get(cmd, lambda msg: self.response_op(msg))
-        op(msg)
-
-    def response_op(self, res):
-        id   = res.get("task_key","")
-        data = self.res_pool[id]
-        data["res"] = res
-        data["event"].set() # notify request thread
-
-
-    def recv_loop(self):
-        print("Recv loop started.")
-        self.ws.run_forever()
-
-    def __clip(self, value, min_val, max_val):
-        return max(min_val, min(value, max_val))
-
-if __name__ == "__main__":
-    carm = Carm()
-    print("version:",carm.version)
-    print("limits:", carm.limit)
-    print("state:", carm.state)
-
-    carm.track_joint(carm.joint_pos)
-    print(1)
-    carm.move_joint(carm.joint_pos)
-    print(2)
-    carm.track_pose(carm.cart_pose)
-    print(3)
-    carm.move_pose(carm.cart_pose)
-    print(4)

carm-0.0.20250812.dist-info/METADATA

@@ -1,9 +0,0 @@
-Metadata-Version: 2.1
-Name: carm
-Version: 0.0.20250812
-Summary: Python interface for cvte arm.
-Author: Yong Zhao
-Author-email: zhaoyong11933@cvte.com
-Requires-Dist: websocket-client
-
-Python interface for cvte arm.

carm-0.0.20250812.dist-info/RECORD

@@ -1,10 +0,0 @@
-carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
-carm/carm.py,sha256=8EpL0iaWyfRWsKmmh_K2qtxqNUHHkU0uoDZRfctGSfY,10330
-carm/carm_driver.py,sha256=fT6UYpJEr0kcmPQcXvbCaAw27_770iqNs64OrscwUdU,10393
-carm-0.0.20250812.data/scripts/carm,sha256=kWcTgUciXtd3cMA3w__cZMVNe4QURi-xHEx8ob2vWnA,4088
-carm-0.0.20250812.data/scripts/carm_ros2,sha256=MfzWv6-orDIpFJQ4ctmP1NBYg135qpc61gIraL7hPP0,3683
-carm-0.0.20250812.dist-info/METADATA,sha256=ahKVvXQf-2daRSrO_k4za2spQ1yTD_sTlljskAyJxn4,214
-carm-0.0.20250812.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-carm-0.0.20250812.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
-carm-0.0.20250812.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-carm-0.0.20250812.dist-info/RECORD,,

carm-0.0.20250812.dist-info/zip-safe

@@ -1 +0,0 @@
-