carm 0.1.20251010__tar.gz → 0.1.20251017__tar.gz

carm-0.1.20251017/PKG-INFO

@@ -0,0 +1,47 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.1.20251017
+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
+```

{carm-0.1.20251010 → carm-0.1.20251017}/README.md

@@ -28,4 +28,8 @@ carm.track_pose(carm.cart_pose)
 carm.move_pose(carm.cart_pose)
 ```
 
+# Version update to pypy
 
+```
+python3 -m build
+```

{carm-0.1.20251010 → carm-0.1.20251017}/carm/carm.py

@@ -21,7 +21,7 @@ class Carm:
             "onCarmError": lambda msg: print("Error:", msg)
         }
         self.res_pool  = {}
-        self.task_pool = {}
+        self.task_event = threading.Event()
 
         self.reader = threading.Thread(target=self.__recv_loop, daemon=True).start()
         self.open_ready = threading.Event()
@@ -279,7 +279,7 @@ 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 +295,14 @@ 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 +317,11 @@ 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 +406,8 @@ 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
@@ -478,22 +480,25 @@ 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-0.1.20251010 → carm-0.1.20251017}/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-0.1.20251017/carm.egg-info/PKG-INFO

@@ -0,0 +1,47 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.1.20251017
+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
+```

{carm-0.1.20251010 → carm-0.1.20251017}/pyproject.toml

@@ -4,11 +4,12 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "carm"
-version = "0.1.20251010"
+version = "0.1.20251017"
 authors = [
     {name = "Yong Zhao", email = "zhaoyong11933@cvte.com"},
 ]
 description = "Python interface for cvte arm."
+readme = "README.md"
 requires-python = ">=3.6"
 dependencies = ["websocket-client"]
 classifiers = [

carm-0.1.20251010/PKG-INFO

@@ -1,10 +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/carm.egg-info/PKG-INFO

@@ -1,10 +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