carm 0.0.20250815__tar.gz → 0.0.20250822__tar.gz

{carm-0.0.20250815 → carm-0.0.20250822}/PKG-INFO

@@ -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-0.0.20250815 → carm-0.0.20250822}/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-0.0.20250815/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-0.0.20250815/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-0.0.20250815 → carm-0.0.20250822}/carm.egg-info/PKG-INFO

@@ -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-0.0.20250815 → carm-0.0.20250822}/carm.egg-info/SOURCES.txt

@@ -2,11 +2,11 @@ README.md
 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
-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-0.0.20250815 → carm-0.0.20250822}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "carm"
-version = "0.0.20250815"
+version = "0.0.20250822"
 authors = [
     {name = "Yong Zhao", email = "zhaoyong11933@cvte.com"},
 ]
@@ -18,8 +18,8 @@ classifiers = [
 ]
 
 [project.scripts]
-carm = "carm:main"
-carm_ros2 = "carm:ros2_main"
+carm = "carm.carm_dds:main"
+carm_ros2 = "carm.carm_ros2:main"
 
 [tool.setuptools]
 packages = ["carm"]
@@ -28,4 +28,5 @@ packages = ["carm"]
 carm = [
     "__init__.py",
     "carm.py",
+    "carm_dds.py",
 ]

carm-0.0.20250815/carm.egg-info/entry_points.txt

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