carm 0.0.20250812__tar.gz → 0.0.20250822__tar.gz

carm-0.0.20250822/PKG-INFO

@@ -0,0 +1,10 @@
+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-0.0.20250812 → carm-0.0.20250822}/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/scripts/carm → carm-0.0.20250822/carm/carm_dds.py

@@ -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/scripts/carm_ros2 → carm-0.0.20250822/carm/carm_ros2.py

@@ -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/carm.egg-info/PKG-INFO

@@ -0,0 +1,10 @@
+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-0.0.20250812 → carm-0.0.20250822}/carm.egg-info/SOURCES.txt

@@ -1,12 +1,12 @@
 README.md
-setup.py
+pyproject.toml
 carm/__init__.py
 carm/carm.py
+carm/carm_dds.py
+carm/carm_ros2.py
 carm.egg-info/PKG-INFO
 carm.egg-info/SOURCES.txt
 carm.egg-info/dependency_links.txt
+carm.egg-info/entry_points.txt
 carm.egg-info/requires.txt
-carm.egg-info/top_level.txt
-carm.egg-info/zip-safe
-scripts/carm
-scripts/carm_ros2
+carm.egg-info/top_level.txt

carm-0.0.20250822/carm.egg-info/entry_points.txt

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

carm-0.0.20250822/pyproject.toml

@@ -0,0 +1,32 @@
+[build-system]
+requires = ["setuptools>=42"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "carm"
+version = "0.0.20250822"
+authors = [
+    {name = "Yong Zhao", email = "zhaoyong11933@cvte.com"},
+]
+description = "Python interface for cvte arm."
+requires-python = ">=3.6"
+dependencies = ["websocket-client"]
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Programming Language :: Python :: Implementation :: PyPy",
+]
+
+[project.scripts]
+carm = "carm.carm_dds:main"
+carm_ros2 = "carm.carm_ros2:main"
+
+[tool.setuptools]
+packages = ["carm"]
+
+[tool.setuptools.package-data]
+carm = [
+    "__init__.py",
+    "carm.py",
+    "carm_dds.py",
+]

carm-0.0.20250812/PKG-INFO

@@ -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/carm.egg-info/PKG-INFO

@@ -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/carm.egg-info/zip-safe

@@ -1 +0,0 @@
-

carm-0.0.20250812/setup.py

@@ -1,21 +0,0 @@
-from setuptools import setup, find_packages
-
-setup(
-    name="carm",
-    version="0.0.20250812",
-    packages=find_packages(),
-    package_data={
-        "carm": [
-            "__init__.py",
-            "carm.py",
-        ],  
-    },
-    scripts=['scripts/carm','scripts/carm_ros2'],
-    include_package_data=True,
-    install_requires=["websocket-client"],
-    zip_safe=True,
-    author='Yong Zhao',
-    author_email='zhaoyong11933@cvte.com',
-    description="Python interface for cvte arm.",
-    long_description='Python interface for cvte arm.',
-)