carm 0.0.20250815__py3-none-any.whl → 0.0.20250822__py3-none-any.whl

carm/carm.py

@@ -23,7 +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"]
@@ -207,6 +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/carm_dds.py

@@ -0,0 +1,108 @@
+#!/usr/bin/python3
+import time
+import os
+import argparse
+import svar
+import numpy as np
+import carm
+
+messenger = svar.load("svar_messenger").messenger
+
+class ArmDriver:
+    def __init__(self,args):
+        self.args = args
+        
+        self.arm       = carm.Carm(args.addr)
+        if args.mit:
+            self.arm.set_control_mode(3)
+        else:
+            self.arm.set_control_mode(1)
+
+        self.pub_joint = messenger.advertise(args.joint_topic, 0)
+        self.pub_end   = messenger.advertise(args.end_topic, 0)
+        
+        self.sub_joint = messenger.subscribe(args.joint_cmd_topic, 0, lambda msg:self.joint_callback(msg))
+        self.sub_end   = messenger.subscribe(args.end_cmd_topic, 0, lambda msg:self.end_callback(msg))
+
+    def end_callback(self, msg):  
+        position = np.frombuffer(msg["position"],dtype=np.float64).tolist()
+        self.arm.track_pose(position)
+
+    def joint_callback(self, msg):        
+        position = np.frombuffer(msg["position"],dtype=np.float64).tolist()        
+        self.arm.track_joint(position)
+
+    def loop(self):
+        while True:
+            stamp   = time.time()
+            sec     = int(stamp )
+            nanosec = int((stamp - sec) * 1e9)
+            header  = {"stamp": {"sec": sec, "nanosec": nanosec},"frame_id": "base_link"}
+
+            end_msg = {"header": header, "position": self.arm.cart_pose + [self.arm.gripper_state["gripper_pos"],]}
+            joints_msg = {"header": header, "position": self.arm.joint_pos + [self.arm.gripper_state["gripper_pos"],]}
+            
+            self.pub_joint.publish(joints_msg)
+            self.pub_end.publish(end_msg)
+
+            time.sleep(0.005)
+
+def send_cmd(args):
+    arm       = carm.Carm(args.addr)
+
+    cmd = args.cmd
+
+    if cmd == "disable":
+       arm.set_servo_enable(False)
+    if cmd == "remote":
+       arm.set_control_mode(3)
+
+def driver_main(args):
+    print("Starting driver mode...")
+        
+    driver = ArmDriver(args)
+    
+    ros2 = svar.load(args.dds)
+    transfer = ros2.Transfer({"node": "carm_driver" + args.device, 
+                              "publishers":[[args.joint_topic, "sensor_msgs/msg/JointState",10],
+                                            [args.end_topic, "sensor_msgs/msg/JointState",10],
+                                            ],
+                              "subscriptions":[[args.joint_cmd_topic, "sensor_msgs/msg/JointState",10],
+                                               [args.end_cmd_topic, "sensor_msgs/msg/JointState",10]]})
+    
+    driver.loop()
+    
+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")
+    parser.add_argument("--device", type=str, default="carm", help="device name, used as topic prefix")
+    parser.add_argument("--dds", type=str, default="svar_messenger_ros2", help="the dds plugin, default is ros2, options: svar_zbus, svar_lcm")
+    parser.add_argument("--mit", action="store_true", help="Enable mit mode")
+    parser.add_argument("--joint_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--end_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--joint_cmd_topic", type=str, default="", help="the joints cmd topic")
+    parser.add_argument("--end_cmd_topic", type=str, default="", help="the end cmd topic")
+    
+    args = parser.parse_args()
+    
+    if args.joint_topic == "":
+        args.joint_topic = "/"+args.device + "/joints"
+    if args.end_topic == "":
+        args.end_topic = "/"+args.device + "/end"
+    if args.joint_cmd_topic == "":
+        args.joint_cmd_topic = "/"+args.device + "/joints_cmd"
+    if args.end_cmd_topic == "":
+        args.end_cmd_topic = "/"+args.device + "/end_cmd"
+    
+    if args.cmd == "":
+        driver_main(args)
+    else:
+        send_cmd(args)
+   
+    
+# 测试代码
+if __name__ == "__main__":
+    main()
+    
+    

carm/carm_ros2.py

@@ -0,0 +1,96 @@
+#!/usr/bin/python3
+import rclpy
+from rclpy.node import Node
+import time
+import argparse
+
+from std_msgs.msg import String, Bool, Int16MultiArray, MultiArrayLayout, MultiArrayDimension, Int8
+from geometry_msgs.msg import Point, Pose, PoseArray
+from sensor_msgs.msg import JointState
+from example_interfaces.srv import AddTwoInts
+import carm
+import threading
+import numpy as np
+
+class ArmDriver(Node):
+    def __init__(self,args):
+        super().__init__('carm_'+args.device)
+        self.args = args
+        
+        self.arm       = carm.Carm(args.addr)
+        if args.mit:
+            self.arm.set_control_mode(2)
+        else:
+            self.arm.set_control_mode(1)
+
+        
+        print("version:",self.arm.version)
+        print("limits:", self.arm.limit)
+        print("state:", self.arm.state)
+
+        self.pub_joint = self.create_publisher(JointState, args.joint_topic, 10)
+        self.pub_end   = self.create_publisher(JointState, args.end_topic, 10)
+        
+        self.sub_joint = self.create_subscription(JointState, args.joint_cmd_topic, self.joint_callback, 10)
+        self.sub_end   = self.create_subscription(JointState, args.end_cmd_topic, self.end_callback, 10)
+
+        self.worker = threading.Thread(target=self.loop).start()
+
+    def end_callback(self, msg):  
+        self.arm.track_pose(list(msg.position))
+
+    def joint_callback(self, msg):     
+        self.arm.track_joint(list(msg.position))
+
+    def loop(self):
+        while True:
+            joint_msg = JointState()          # list of string
+            joint_msg.header.stamp = self.get_clock().now().to_msg()
+            joint_msg.position = self.arm.joint_pos
+            joint_msg.velocity = self.arm.joint_vel
+            joint_msg.effort   = self.arm.joint_tau
+            joint_msg.position.append(self.arm.gripper_state["gripper_pos"])
+            self.pub_joint.publish(joint_msg)
+            
+            
+            end_msg = JointState()          # list of string
+            end_msg.header.stamp = self.get_clock().now().to_msg()
+            end_msg.position = np.array(self.arm.cart_pose).tolist()
+            end_msg.position.append(self.arm.gripper_state["gripper_pos"])
+            self.pub_end.publish(end_msg)
+
+            time.sleep(0.005)
+
+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")
+    parser.add_argument("--dds", type=str, default="svar_messenger_ros2", help="the dds plugin, default is ros2, options: svar_zbus, svar_lcm")
+    parser.add_argument("--mit", action="store_true", help="Enable mit mode")
+    parser.add_argument("--joint_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--end_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--joint_cmd_topic", type=str, default="", help="the joints cmd topic")
+    parser.add_argument("--end_cmd_topic", type=str, default="", help="the end cmd topic")
+    
+    args = parser.parse_args()
+    
+    if args.joint_topic == "":
+        args.joint_topic = "/"+args.device + "/joints"
+    if args.end_topic == "":
+        args.end_topic = "/"+args.device + "/end"
+    if args.joint_cmd_topic == "":
+        args.joint_cmd_topic = "/"+args.device + "/joints_cmd"
+    if args.end_cmd_topic == "":
+        args.end_cmd_topic = "/"+args.device + "/end_cmd"
+    
+    
+    rclpy.init(args=None)
+    node = ArmDriver(args)
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+# 测试代码
+if __name__ == "__main__":
+    main()
+    

{carm-0.0.20250815.dist-info → carm-0.0.20250822.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: carm
-Version: 0.0.20250815
+Version: 0.0.20250822
 Summary: Python interface for cvte arm.
 Author-email: Yong Zhao <zhaoyong11933@cvte.com>
 Classifier: Programming Language :: Python :: 3

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-0.0.20250815.dist-info/RECORD

@@ -1,7 +0,0 @@
-carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
-carm/carm.py,sha256=cx04M6b5XyQpB8Xw-9sycwmoE4fKi3tBqGjmCmtABAc,10404
-carm-0.0.20250815.dist-info/METADATA,sha256=wZxNVuffF6HYb3_Qm7giI5qpBFU14luJ1XE0XLMddOw,389
-carm-0.0.20250815.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-carm-0.0.20250815.dist-info/entry_points.txt,sha256=N8dt2p7PK_49n8YkzKy8tymcvKS7JEH9Ob6i093vEUg,62
-carm-0.0.20250815.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
-carm-0.0.20250815.dist-info/RECORD,,

carm-0.0.20250815.dist-info/entry_points.txt

@@ -1,3 +0,0 @@
-[console_scripts]
-carm = carm:main
-carm_ros2 = carm:ros2_main