carm 0.1.20251010__py3-none-any.whl → 0.1.20260204__py3-none-any.whl

carm/carm.py

@@ -8,12 +8,6 @@ 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),
@@ -21,11 +15,18 @@ class Carm:
             "onCarmError": lambda msg: print("Error:", msg)
         }
         self.res_pool  = {}
-        self.task_pool = {}
-
-        self.reader = threading.Thread(target=self.__recv_loop, daemon=True).start()
+        self.task_event = threading.Event()
         self.open_ready = threading.Event()
-        self.open_ready.wait()
+
+        while not self.open_ready.wait(1):
+            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.reader = threading.Thread(target=self.__recv_loop, daemon=True).start()
+        
         self.limit = self.get_limits()["params"]
 
         self.set_ready()
@@ -254,6 +255,33 @@ class Carm:
         """
         return self.state["arm"][0]["reality"]["torque"]
     
+    @property
+    def plan_joint_pos(self):
+        """
+        获取当前关节位置.
+        Returns:
+            list: The joint position of the arm.
+        """
+        return self.state["arm"][0]["plan"]["pose"]
+    
+    @property
+    def plan_joint_vel(self):
+        """
+        获取当前关节速度.
+        Returns:
+            list: The joint velocity of the arm.
+        """
+        return self.state["arm"][0]["plan"]["vel"]
+    
+    @property
+    def plan_joint_tau(self):
+        """
+        获取当前关节力矩.
+        Returns:
+            list: The joint torque of the arm.
+        """
+        return self.state["arm"][0]["plan"]["torque"]
+    
     @property
     def cart_pose(self):
         """
@@ -263,6 +291,16 @@ class Carm:
         """
         return self.state["arm"][0]["pose"]
     
+
+    @property
+    def plan_cart_pose(self):
+        """
+        获取当前规划的笛卡尔位置.
+        Returns:
+            list: The cartesian position of the arm.
+        """
+        return self.forwardK(self.plan_joint_pos)
+    
     @property
     def gripper_state(self):
         """
@@ -279,7 +317,7 @@ class Carm:
             joints[i] = self.__clip(v, lower[i], upper[i])
         return joints
     
-    def track_joint(self, pos, end_effector = -1):
+    def track_joint(self, pos, end_effector = None):
         """
         关节轨迹跟踪.
         Args:
@@ -295,12 +333,14 @@ class Carm:
                "point_type":{"space":0},
                "data":{"way_point": pos}}
         
-        if end_effector >= 0:
-            req["data"]["eeffe_point"] = end_effector
+        if not end_effector is None:
+            #req["data"]["grp_point"] = end_effector
+            tau = (0.1 - end_effector)  * 20
+            self.set_end_effector(end_effector, tau)
 
         return self.request(req)
     
-    def track_pose(self, pos, end_effector = -1):
+    def track_pose(self, pos, end_effector =None):
         """
         笛卡尔轨迹跟踪.
         Args:
@@ -315,9 +355,11 @@ class Carm:
                "point_type":{"space":1},
                "data":{"way_point": pos}}
         
-        if end_effector > 0:
-            req["data"]["eeffe_point"] = end_effector
-
+        if not end_effector is None:
+            #req["data"]["grp_point"] = end_effector
+            tau = (0.1 - end_effector)  * 20
+            self.set_end_effector(end_effector, tau)
+        
         return self.request(req)
 
     def move_joint(self, pos, tm=-1, sync=True, user=0, tool=0):
@@ -402,10 +444,8 @@ class Carm:
         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)
+        self.task_event= threading.Event()
+        self.task_event.wait()
     
     def move_joint_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
         if len(stamps) != len(target_traj): # as soon as possible
@@ -463,6 +503,42 @@ class Carm:
                              "arm_index":0,
                              "data":data})
 
+    def forwardK(self, joint_pos, user=0, tool=0):
+        """
+        正解
+        Args:
+            joint_pos (list): The joint position to move.
+            user (int, optional): The user index.
+            tool (int, optional): The tool index.
+        Returns:
+            dict: The response from the arm.
+        """
+        is_list = True
+        if not type(joint_pos[0]) is list:
+            joint_pos = [joint_pos, ]
+            is_list = False
+        data = {"user":user,"tool":tool,"point_cnt":len(joint_pos)}
+        for i in range(len(joint_pos)):
+            data[f"joint{i+1}"] = joint_pos[i]
+        ret = self.request({"command":"getKinematics",
+                             "task_id":"forward",
+                             "arm_index":0,
+                             "data":data})
+        
+        try:
+            if ret["recv"] == "Task_Recieve":
+                if is_list:
+                    points = []
+                    for i in range(len(joint_pos)):
+                        points.append(ret["data"][f"point{i+1}"])
+                    return points
+                else:
+                    return ret["data"]["point1"]
+            else:
+                return None
+        except:
+            return None
+
     def request(self, req):
         event = threading.Event()
         task_key = str(uuid.uuid4())
@@ -478,22 +554,25 @@ class Carm:
         self.ws.send(json.dumps(msg))
         
     def __cbk_status(self, message):
-        self.state = message
-
         if not "arm" in message:
             return
+            
+        self.state = message
+        
+        if message["errMsg"] != "":
+            print(message["errMsg"] )
         
         arm_json = message["arm"][0]
-        if "last_task_key" not in arm_json:
+        if "task" not in arm_json:
             return
+        running = arm_json["task"]["exe_flag"]
         
-        task = arm_json["last_task_key"]
-        self.task_pool[task]["event"].set()
+        if not running:
+            self.task_event.set()
         
 
     def __cbk_taskfinish(self, message):
         task = message["task_key"]
-        self.task_pool[task]["event"].set()
         
     def __on_open(self, ws):
         self.open_ready.set()

carm/carm_dds.py

@@ -29,7 +29,7 @@ class ArmDriver:
         if type(position) != tuple:
             position = np.frombuffer(msg["position"],dtype=np.float64).tolist()
 
-        if position > 7:
+        if len(position) > 7:
             self.arm.track_pose(position[:7], position[7])
         else:
             self.arm.track_pose(position)
@@ -49,7 +49,7 @@ class ArmDriver:
         if type(position) != tuple:   
             position = np.frombuffer(msg["position"],dtype=np.float64).tolist()  
 
-        if position > 6:
+        if len(position) > 6:
             self.arm.track_joint(position[:6], position[6])
         else:
             self.arm.track_joint(position)      
@@ -139,4 +139,4 @@ def main():
 if __name__ == "__main__":
     main()
     
-    
+    

carm-0.1.20260204.dist-info/METADATA

@@ -0,0 +1,49 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.1.20260204
+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
+Description-Content-Type: text/markdown
+Requires-Dist: websocket-client
+
+# pycarm
+
+Python interface for cvte arm.
+
+# Install
+
+```
+pip install carm
+```
+
+# Usage
+
+```
+import carm
+
+arm = carm.Carm("ws://localhost:8090")
+
+print("version:",carm.version)
+print("limits:", carm.limit)
+print("state:", carm.state)
+
+carm.track_joint(carm.joint_pos)
+
+carm.move_joint(carm.joint_pos)
+
+carm.track_pose(carm.cart_pose)
+
+carm.move_pose(carm.cart_pose)
+```
+
+# Version update to pypy
+
+```
+python3 -m build
+python3 -m twine upload --repository pypi dist/*
+```
+

carm-0.1.20260204.dist-info/RECORD

@@ -0,0 +1,9 @@
+carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
+carm/carm.py,sha256=I8gMTZb2PMcjht97XcMV95xGVio8JAacqAznL3rD6y4,20406
+carm/carm_dds.py,sha256=eHKOvMkdB-GdHweCN3RA2V2eJ06y3HBdgWNZYehXL2g,5720
+carm/carm_ros2.py,sha256=nox040kSIjpwT9s-crH9D0yGYvFPNfkWNrzj4tqf4I8,3766
+carm-0.1.20260204.dist-info/METADATA,sha256=fScH0VNJuQGvn4K6mKS3UgCQVCFystLfq1UU0jjUzCg,900
+carm-0.1.20260204.dist-info/WHEEL,sha256=WnJ8fYhv8N4SYVK2lLYNI6N0kVATA7b0piVUNvqIIJE,91
+carm-0.1.20260204.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
+carm-0.1.20260204.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
+carm-0.1.20260204.dist-info/RECORD,,

{carm-0.1.20251010.dist-info → carm-0.1.20260204.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.3.2)
+Generator: setuptools (75.3.3)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

carm-0.1.20251010.dist-info/METADATA

@@ -1,11 +0,0 @@
-Metadata-Version: 2.1
-Name: carm
-Version: 0.1.20251010
-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-0.1.20251010.dist-info/RECORD

@@ -1,9 +0,0 @@
-carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
-carm/carm.py,sha256=jep6tWFUYl-8jw-qixC_awV5gdTEyicBU2K7oU7qNGs,17973
-carm/carm_dds.py,sha256=DfejpbrW_qWq36ZQpyWVRdfDsUCkScHXOx2fP-8i3kY,5711
-carm/carm_ros2.py,sha256=nox040kSIjpwT9s-crH9D0yGYvFPNfkWNrzj4tqf4I8,3766
-carm-0.1.20251010.dist-info/METADATA,sha256=QeLknGXuES8_Ld8fsX5AOVUKlgUztdVXoOr4lzJiGGM,389
-carm-0.1.20251010.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-carm-0.1.20251010.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
-carm-0.1.20251010.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
-carm-0.1.20251010.dist-info/RECORD,,