kuavo-humanoid-sdk 1.1.6b1134__tar.gz → 1.1.6b1139__tar.gz

{kuavo_humanoid_sdk-1.1.6b1134 → kuavo_humanoid_sdk-1.1.6b1139}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo_humanoid_sdk
-Version: 1.1.6b1134
+Version: 1.1.6b1139
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']

{kuavo_humanoid_sdk-1.1.6b1134 → kuavo_humanoid_sdk-1.1.6b1139}/kuavo_humanoid_sdk/kuavo/core/ros_env.py

@@ -235,226 +235,3 @@ class KuavoROSEnv:
         except Exception as e:
             SDKLogger.error(f"Error checking if node {node_name} exists: {e}")
             return False
-
-class KuavoROSEnvWebsocket:
-    _instance = None
-    _processes = []  # Store all subprocess instances
-
-    def __new__(cls):
-        if cls._instance is None:
-            cls._instance = super(KuavoROSEnvWebsocket, cls).__new__(cls)
-            cls._instance._initialized = False
-            cls._instance._init_success = False  # Add flag to track successful Init() call
-            # Register cleanup handler
-            atexit.register(cls._cleanup_processes)
-        return cls._instance
-
-    def __init__(self):
-        if not self._initialized:
-            self._initialized = True
-            self.websocket = None
-
-    @classmethod
-    def _cleanup_processes(cls):
-        """Cleanup all registered processes on exit"""
-        for process in cls._processes:
-            if process.poll() is None:  # Process is still running
-                process.terminate()
-                try:
-                    process.wait(timeout=3)  # Wait for process to terminate
-                except subprocess.TimeoutExpired:
-                    process.kill()  # Force kill if not terminated
-        cls._processes.clear()
-
-    def _get_kuavo_ws_root(self) -> str:
-        # For WebSocket version, we'll use environment variable instead of ROS param
-        model_path = os.environ.get('KUAVO_MODEL_PATH')
-        if not model_path:
-            raise Exception("KUAVO_MODEL_PATH environment variable not found")
-        
-        if not os.path.exists(model_path):
-            raise Exception(f"Model path {model_path} not found")
-            
-        # ws 
-        return model_path.replace('/src/kuavo_assets/models', '')
-    
-    def Init(self) -> bool:
-        """
-        Initialize the WebSocket environment.
-        Raises:
-            Exception: If the KUAVO_MODEL_PATH environment variable is not found or the path is not valid.
-        """
-        # if generate docs, skip init.
-        if 'GEN_KUAVO_HUMANOID_SDK_DOCS' in os.environ:
-            return True
-
-        # Return directly if already initialized successfully
-        if self._init_success:
-            return True
-        
-        # Check if WebSocket server is running
-        try:
-            
-            self.websocket = WebSocketKuavoSDK()
-            if not self.websocket.client.is_connected:
-                print(f"\033[31m\nError: Can't connect to WebSocket server. Please ensure the server is running.\033[0m"
-                      "\nMaybe manually launch the app first?"
-                      "\n - for example(sim): roslaunch humanoid_controller load_kuavo_mujoco_sim.launch, "
-                      "\n - for example(real): roslaunch humanoid_controller load_kuavo_real.launch\n")
-                exit(1)
-        except Exception as e:
-            print(f"\033[31m\nError: Failed to connect to WebSocket server: {e}\033[0m")
-            exit(1)
-        
-        # Only check nodes exist when Init SDK, if not, tips user manually launch nodes.
-        deps_nodes = ['/humanoid_gait_switch_by_name']
-        for node in deps_nodes:
-            if not self.check_rosnode_exists(node):
-                print(f"\033[31m\nError: Node {node} not found. Please launch it manually.\033[0m")
-                exit(1)
-                
-        self._init_success = True  # Set flag after successful initialization
-
-        return True
-    
-    def _launch_ros_node(self, node_name, launch_cmd, log_name):
-        """Launch a ROS node with the given command and log the output.
-        
-        Args:
-            node_name (str): Name of the node to launch
-            launch_cmd (str): Full launch command including source and roslaunch
-            log_name (str): Name for the log file
-            
-        Raises:
-            Exception: If node launch fails
-        """
-        # Launch in background and check if successful
-        try:
-            os.makedirs('/var/log/kuavo_humanoid_sdk', exist_ok=True)
-            log_path = f'/var/log/kuavo_humanoid_sdk/{log_name}.log'
-        except PermissionError:
-            os.makedirs('log/kuavo_humanoid_sdk', exist_ok=True)
-            log_path = f'log/kuavo_humanoid_sdk/{log_name}.log'
-            
-        with open(log_path, 'w') as log_file:
-            process = subprocess.Popen(launch_cmd, shell=True, executable='/bin/bash', stdout=log_file, stderr=log_file)
-            self._processes.append(process)  # Add process to tracking list
-            
-        if process.returncode is not None and process.returncode != 0:
-            raise Exception(f"Failed to launch {node_name}, return code: {process.returncode}")
-
-        SDKLogger.info(f"{node_name} launched successfully")
-
-    def _get_setup_file(self, ws_root=None):
-        """Get the appropriate ROS setup file path based on shell type.
-        
-        Args:
-            ws_root (str, optional): ROS workspace root path. If None, uses ROS_WORKSPACE.
-            
-        Returns:
-            str: Path to the setup file
-            
-        Raises:
-            Exception: If setup file not found
-        """
-        is_zsh = 'zsh' in os.environ.get('SHELL', '')
-        
-        if ws_root is None:
-            ws_root = os.environ['ROS_WORKSPACE']
-            
-        setup_files = {
-            'zsh': os.path.join(ws_root, 'devel/setup.zsh'),
-            'bash': os.path.join(ws_root, 'devel/setup.bash')
-        }
-        
-        setup_file = setup_files['zsh'] if is_zsh else setup_files['bash']
-        if not os.path.exists(setup_file):
-            setup_file = setup_file.replace('devel', 'install')
-            if not os.path.exists(setup_file):
-                raise Exception(f"Setup file not found in either devel or install: {setup_file}")
-                
-        return setup_file
-
-    def launch_ik_node(self):
-        # nodes: /arms_ik_node
-        # services: /ik/two_arm_hand_pose_cmd_srv, /ik/fk_srv
-        try:
-            if not self.websocket or not self.websocket.client.is_connected:
-                raise Exception("WebSocket server is not running")
-        except Exception as e:
-            raise Exception(f"WebSocket server is not running: {e}")
-
-        # Check if IK node and services exist
-        try:
-            # Check if arms_ik_node is running using roslibpy
-            service = roslibpy.Service(self.websocket.client, '/rosnode/list', 'rosapi/Nodes')
-            response = service.call({})
-            nodes = response.get('nodes', [])
-            
-            if '/arms_ik_node' not in nodes:
-                # Launch IK node if not running
-                kuavo_ws_root = self._get_kuavo_ws_root()
-                setup_file = self._get_setup_file(kuavo_ws_root)
-                source_cmd = f"source {setup_file}"
-                
-                # Get robot version from environment variable
-                robot_version = os.environ.get('ROBOT_VERSION')
-                if robot_version is None:
-                    raise Exception("Failed to get ROBOT_VERSION from environment variables")
-                
-                # Launch IK node
-                launch_cmd = f"roslaunch motion_capture_ik ik_node.launch robot_version:={robot_version}"
-                full_cmd = f"{source_cmd} && {launch_cmd}"
-                
-                self._launch_ros_node('IK node', full_cmd, 'launch_ik')
-
-            return True
-
-        except Exception as e:
-            raise Exception(f"Failed to verify IK node and services: {e}")
-        
-
-    def launch_gait_switch_node(self)-> bool:
-        """Verify that the gait switch node is running, launch if not."""
-        try:
-            # Check if node exists using roslibpy
-            service = roslibpy.Service(self.websocket.client, '/rosnode/list', 'rosapi/Nodes')
-            response = service.call({})
-            nodes = response.get('nodes', [])
-            
-            if '/humanoid_gait_switch_by_name' not in nodes:
-                kuavo_ws_root = self._get_kuavo_ws_root()
-                setup_file = self._get_setup_file(kuavo_ws_root)
-                source_cmd = f"source {setup_file}"
-    
-                # Launch gait switch node
-                launch_cmd = "roslaunch humanoid_interface_ros humanoid_switch_gait.launch"
-                full_cmd = f"{source_cmd} && {launch_cmd}"
-                
-                self._launch_ros_node('Gait switch node', full_cmd, 'launch_gait_switch')
-
-        except Exception as e:
-            raise Exception(f"Failed to launch gait_switch node: {e}")
-        
-    @staticmethod
-    def check_rosnode_exists(node_name):
-        """Check if a ROS node is running using roslibpy.
-        
-        Args:
-            node_name (str): Name of the node to check
-            
-        Returns:
-            bool: True if node is running, False otherwise
-        """
-        websocket = WebSocketKuavoSDK()
-        try:
-            if not websocket or not websocket.client.is_connected:
-                return False
-                
-            service = roslibpy.Service(websocket.client, '/rosapi/nodes', 'rosapi/Nodes')
-            response = service.call({})
-            nodes = response.get('nodes', [])
-            return node_name in nodes
-        except Exception as e:
-            SDKLogger.error(f"Error checking if node {node_name} exists: {e}")
-            return False

{kuavo_humanoid_sdk-1.1.6b1134 → kuavo_humanoid_sdk-1.1.6b1139}/kuavo_humanoid_sdk.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kuavo-humanoid-sdk
-Version: 1.1.6b1134
+Version: 1.1.6b1139
 Summary: A Python SDK for kuavo humanoid robot.
 Home-page: https://gitee.com/leju-robot/kuavo-ros-opensource/
 Author: ['lejurobot']