hex-zmq-servers 0.3.1__tar.gz

hex_zmq_servers-0.3.1/LICENSE

@@ -0,0 +1,201 @@
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hex_zmq_servers-0.3.1/MANIFEST.in

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+include LICENSE
+include README.md
+include requirements.txt
+
+recursive-include package_name *
+recursive-include hex_zmq_servers/mujoco/archer_y6/model * *
+recursive-include hex_zmq_servers/mujoco/e3_desktop/model * *
+recursive-include hex_zmq_servers/robot/hexarm/urdf * *
+recursive-include hex_zmq_servers/config *
+
+recursive-exclude * *.pyc
+recursive-exclude * .DS_Store
+recursive-exclude * __pycache__

hex_zmq_servers-0.3.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: hex_zmq_servers
+Version: 0.3.1
+Summary: HEXFELLOW ZMQ Servers
+Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
+Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/hexfellow/hex_zmq_servers
+Project-URL: Repository, https://github.com/hexfellow/hex_zmq_servers.git
+Project-URL: Bug Tracker, https://github.com/hexfellow/hex_zmq_servers/issues
+Project-URL: Documentation, https://github.com/hexfellow/hex_zmq_servers/wiki
+Keywords: hex_zmq_servers
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyzmq>=27.0.1
+Requires-Dist: hex_device<1.4.0,>=1.3.1
+Requires-Dist: hex_robo_utils<0.3.0,>=0.2.0
+Requires-Dist: dynamixel-sdk==3.8.4
+Provides-Extra: camera
+Requires-Dist: berxel_py_wrapper>=2.0; extra == "camera"
+Requires-Dist: opencv-python>=4.2; extra == "camera"
+Provides-Extra: mujoco
+Requires-Dist: mujoco>=3.3.3; extra == "mujoco"
+Requires-Dist: opencv-python>=4.2; extra == "mujoco"
+Provides-Extra: all
+Requires-Dist: berxel_py_wrapper>=2.0; extra == "all"
+Requires-Dist: mujoco>=3.3.3; extra == "all"
+Requires-Dist: opencv-python>=4.2; extra == "all"
+Dynamic: license-file
+
+# hex_zmq_servers
+
+## Introduction
+
+**`hex_zmq_servers`** is a comprehensive distributed device control framework based on ZeroMQ, providing efficient client-server communication for HEXFELLOW devices.
+
+## Project Structure
+
+```bash
+hex_zmq_servers/
+├── hex_zmq_servers/         # Core library
+│   ├── robot/               # Robot devices
+│   ├── cam/                 # Camera devices
+│   ├── mujoco/              # Mujoco simulation devices
+│   └── config/              # Default configuration files
+├── examples/                # Example code
+│   ├── basic/               # Basic examples (single device)
+│   └── adv/                 # Advanced examples (multi-device coordination)
+└── venv.sh                  # Virtual environment script
+```
+
+## Devices
+
+### Robot
+
+- **dummy**: Dummy robot, for testing and development
+- **gello**: GELLO robot, based on Dynamixel servo
+- **hexarm**: HexArm robot of HEXFELLOW
+
+### Camera
+
+- **dummy**: Dummy camera, for testing and development
+- **berxel**: Berxel depth camera, providing RGB and depth images
+
+### Mujoco
+
+- **archer_y6**: Physical simulation of Archer Y6 robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+1. For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+    ```bash
+    pip install hex_zmq_servers[all]
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    pip install hex_zmq_servers
+    ```
+
+### Install from Source Code
+
+1. For those who want to test the examples or contribute to the project, you can install it from source code.
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --min
+    ```
+
+    (**Important**) Some examples would not work without the extra dependencies.
+
+3. If you don't want to install the examples, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --pkg-only
+    ```
+
+## Examples
+
+There are two types of examples in the project:
+
+- **basic/**: Basic examples, showing the usage of a single device
+- **adv/**: Advanced examples, showing multi-device coordination
+
+More details please refer to [examples/README.md](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

hex_zmq_servers-0.3.1/README.md

@@ -0,0 +1,106 @@
+# hex_zmq_servers
+
+## Introduction
+
+**`hex_zmq_servers`** is a comprehensive distributed device control framework based on ZeroMQ, providing efficient client-server communication for HEXFELLOW devices.
+
+## Project Structure
+
+```bash
+hex_zmq_servers/
+├── hex_zmq_servers/         # Core library
+│   ├── robot/               # Robot devices
+│   ├── cam/                 # Camera devices
+│   ├── mujoco/              # Mujoco simulation devices
+│   └── config/              # Default configuration files
+├── examples/                # Example code
+│   ├── basic/               # Basic examples (single device)
+│   └── adv/                 # Advanced examples (multi-device coordination)
+└── venv.sh                  # Virtual environment script
+```
+
+## Devices
+
+### Robot
+
+- **dummy**: Dummy robot, for testing and development
+- **gello**: GELLO robot, based on Dynamixel servo
+- **hexarm**: HexArm robot of HEXFELLOW
+
+### Camera
+
+- **dummy**: Dummy camera, for testing and development
+- **berxel**: Berxel depth camera, providing RGB and depth images
+
+### Mujoco
+
+- **archer_y6**: Physical simulation of Archer Y6 robot
+- **e3_desktop**: Physical simulation of E3 Desktop robot
+
+## Installation
+
+### Install from PyPI
+
+1. For those who only want to use the library in their projects, it is recommended to install it from PyPI.
+
+    ```bash
+    pip install hex_zmq_servers[all]
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    pip install hex_zmq_servers
+    ```
+
+### Install from Source Code
+
+1. For those who want to test the examples or contribute to the project, you can install it from source code.
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh
+    ```
+
+2. If you don't want to install the extra dependencies for extra devices, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --min
+    ```
+
+    (**Important**) Some examples would not work without the extra dependencies.
+
+3. If you don't want to install the examples, you can run:
+
+    ```bash
+    git clone https://github.com/hexfellow/hex_zmq_servers.git
+    cd hex_zmq_servers
+    ./venv.sh --pkg-only
+    ```
+
+## Examples
+
+There are two types of examples in the project:
+
+- **basic/**: Basic examples, showing the usage of a single device
+- **adv/**: Advanced examples, showing multi-device coordination
+
+More details please refer to [examples/README.md](examples/README.md)
+
+## Contributions
+
+Welcome to submit issues and pull requests!
+
+## License
+
+Apache License 2.0
+
+## Contact
+
+- Author: [Dong Zhaorui](https://github.com/IBNBlank)
+- Maintainer: [jecjune](https://github.com/Jecjune)
+- GitHub: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers)
+- Issue Tracker: [hex_zmq_servers](https://github.com/hexfellow/hex_zmq_servers/issues)

hex_zmq_servers-0.3.1/hex_zmq_servers/__init__.py

@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2025-09-15
+################################################################
+
+from .hex_launch import HexLaunch, HexNodeConfig, HEX_LOG_LEVEL, hex_dict_str, hex_log, hex_err
+
+from .device_base import HexDeviceBase
+from .zmq_base import HexRate, hex_zmq_ts_now, hex_zmq_ts_delta_ms
+from .zmq_base import HexSafeValue, HexZMQClientBase, HexZMQServerBase, hex_server_helper
+from .zmq_base import HexZMQDummyClient, HexZMQDummyServer
+
+from .robot import HexRobotBase, HexRobotClientBase, HexRobotServerBase
+from .robot import HexRobotDummy, HexRobotDummyClient, HexRobotDummyServer
+from .robot import HexRobotGello, HexRobotGelloClient, HexRobotGelloServer
+from .robot import HexRobotHexarm, HexRobotHexarmClient, HexRobotHexarmServer, HEXARM_URDF_PATH_DICT
+
+import os
+
+file_dir = os.path.dirname(os.path.abspath(__file__))
+HEX_ZMQ_SERVERS_PATH_DICT = {
+    "zmq_dummy": f"{file_dir}/zmq_base.py",
+    "robot_dummy": f"{file_dir}/robot/dummy/robot_dummy_srv.py",
+    "robot_gello": f"{file_dir}/robot/gello/robot_gello_srv.py",
+    "robot_hexarm": f"{file_dir}/robot/hexarm/robot_hexarm_srv.py",
+}
+HEX_ZMQ_CONFIGS_PATH_DICT = {
+    "zmq_dummy": f"{file_dir}/config/zmq_dummy.json",
+    "robot_dummy": f"{file_dir}/config/robot_dummy.json",
+    "robot_gello": f"{file_dir}/config/robot_gello.json",
+    "robot_hexarm": f"{file_dir}/config/robot_hexarm.json",
+}
+
+__all__ = [
+    # version
+    "__version__",
+
+    # path
+    "HEX_ZMQ_SERVERS_PATH_DICT",
+    "HEX_ZMQ_CONFIGS_PATH_DICT",
+    "HEXARM_URDF_PATH_DICT",
+
+    # launch
+    "HexLaunch",
+    "HexNodeConfig",
+    "HEX_LOG_LEVEL",
+    "hex_dict_str",
+    "hex_log",
+    "hex_err",
+
+    # base
+    "HexDeviceBase",
+    "HexRate",
+    "hex_zmq_ts_now",
+    "hex_zmq_ts_delta_ms",
+    "HexSafeValue",
+    "HexZMQClientBase",
+    "HexZMQServerBase",
+    "hex_server_helper",
+    "HexZMQDummyClient",
+    "HexZMQDummyServer",
+
+    # robot
+    "HexRobotBase",
+    "HexRobotClientBase",
+    "HexRobotServerBase",
+    "HexRobotDummy",
+    "HexRobotDummyClient",
+    "HexRobotDummyServer",
+    "HexRobotGello",
+    "HexRobotGelloClient",
+    "HexRobotGelloServer",
+    "HexRobotHexarm",
+    "HexRobotHexarmClient",
+    "HexRobotHexarmServer",
+]
+
+# Check optional dependencies availability
+from importlib.util import find_spec
+
+_HAS_OPENCV = find_spec("cv2") is not None
+_HAS_BERXEL = find_spec("berxel_py_wrapper") is not None
+_HAS_MUJOCO = find_spec("mujoco") is not None
+
+# Optional: camera
+if _HAS_OPENCV and _HAS_BERXEL:
+    from .cam import HexCamBase, HexCamClientBase, HexCamServerBase
+    from .cam import HexCamDummy, HexCamDummyClient, HexCamDummyServer
+    from .cam import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+    HEX_ZMQ_SERVERS_PATH_DICT.update({
+        "cam_dummy":
+        f"{file_dir}/cam/dummy/cam_dummy_srv.py",
+        "cam_berxel":
+        f"{file_dir}/cam/berxel/cam_berxel_srv.py",
+    })
+    HEX_ZMQ_CONFIGS_PATH_DICT.update({
+        "cam_dummy":
+        f"{file_dir}/config/cam_dummy.json",
+        "cam_berxel":
+        f"{file_dir}/config/cam_berxel.json",
+    })
+    __all__.extend([
+        # camera
+        "HexCamBase",
+        "HexCamClientBase",
+        "HexCamServerBase",
+        "HexCamDummy",
+        "HexCamDummyClient",
+        "HexCamDummyServer",
+        "HexCamBerxel",
+        "HexCamBerxelClient",
+        "HexCamBerxelServer",
+    ])
+
+# Optional: mujoco
+if _HAS_OPENCV and _HAS_MUJOCO:
+    from .mujoco import HexMujocoBase, HexMujocoClientBase, HexMujocoServerBase
+    from .mujoco import HexMujocoArcherY6, HexMujocoArcherY6Client, HexMujocoArcherY6Server
+    from .mujoco import HexMujocoE3Desktop, HexMujocoE3DesktopClient, HexMujocoE3DesktopServer
+    HEX_ZMQ_SERVERS_PATH_DICT.update({
+        "mujoco_archer_y6":
+        f"{file_dir}/mujoco/archer_y6/mujoco_archer_y6_srv.py",
+        "mujoco_e3_desktop":
+        f"{file_dir}/mujoco/e3_desktop/mujoco_e3_desktop_srv.py",
+    })
+    HEX_ZMQ_CONFIGS_PATH_DICT.update({
+        "mujoco_archer_y6":
+        f"{file_dir}/config/mujoco_archer_y6.json",
+        "mujoco_e3_desktop":
+        f"{file_dir}/config/mujoco_e3_desktop.json",
+    })
+    __all__.extend([
+        # mujoco
+        "HexMujocoBase",
+        "HexMujocoClientBase",
+        "HexMujocoServerBase",
+        "HexMujocoArcherY6",
+        "HexMujocoArcherY6Client",
+        "HexMujocoArcherY6Server",
+        "HexMujocoE3Desktop",
+        "HexMujocoE3DesktopClient",
+        "HexMujocoE3DesktopServer",
+    ])
+
+# print("#### Thanks for using hex_zmq_servers :D ####")

hex_zmq_servers-0.3.1/hex_zmq_servers/cam/__init__.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2025-09-12
+################################################################
+
+from .cam_base import HexCamBase, HexCamClientBase, HexCamServerBase
+from .dummy import HexCamDummy, HexCamDummyClient, HexCamDummyServer
+from .berxel import HexCamBerxel, HexCamBerxelClient, HexCamBerxelServer
+
+__all__ = [
+    # base
+    "HexCamBase",
+    "HexCamClientBase",
+    "HexCamServerBase",
+
+    # dummy
+    "HexCamDummy",
+    "HexCamDummyClient",
+    "HexCamDummyServer",
+
+    # berxel
+    "HexCamBerxel",
+    "HexCamBerxelClient",
+    "HexCamBerxelServer",
+]

hex_zmq_servers-0.3.1/hex_zmq_servers/cam/berxel/__init__.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+################################################################
+# Copyright 2025 Dong Zhaorui. All rights reserved.
+# Author: Dong Zhaorui 847235539@qq.com
+# Date  : 2025-09-12
+################################################################
+
+from .cam_berxel import HexCamBerxel
+from .cam_berxel_cli import HexCamBerxelClient
+from .cam_berxel_srv import HexCamBerxelServer
+
+__all__ = [
+    "HexCamBerxel",
+    "HexCamBerxelClient",
+    "HexCamBerxelServer",
+]