reachy-mini 1.2.5rc1__py3-none-any.whl

reachy_mini/daemon/utils.py

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+"""Utilities for managing the Reachy Mini daemon."""
+
+import os
+import socket
+import struct
+import subprocess
+import time
+from enum import Enum
+from typing import Any, List
+
+import psutil
+import serial.tools.list_ports
+
+
+def daemon_check(spawn_daemon: bool, use_sim: bool) -> None:
+    """Check if the Reachy Mini daemon is running and spawn it if necessary."""
+
+    def is_python_script_running(
+        script_name: str,
+    ) -> tuple[bool, int | None, bool | None]:
+        """Check if a specific Python script is running."""
+        found_script = False
+        simluation_enabled = False
+        for proc in psutil.process_iter(["pid", "name", "cmdline"]):
+            try:
+                safe_cmdline = proc.info.get("cmdline") or []
+                for cmd in safe_cmdline:
+                    if script_name in cmd:
+                        found_script = True
+                    if "--sim" in cmd:
+                        simluation_enabled = True
+                if found_script:
+                    return True, proc.pid, simluation_enabled
+            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+                continue
+        return False, None, None
+
+    if spawn_daemon:
+        daemon_is_running, pid, sim = is_python_script_running("reachy-mini-daemon")
+        if daemon_is_running and sim == use_sim:
+            print(
+                f"Reachy Mini daemon is already running (PID: {pid}). "
+                "No need to spawn a new one."
+            )
+            return
+        elif daemon_is_running and sim != use_sim:
+            print(
+                f"Reachy Mini daemon is already running (PID: {pid}) with a different configuration. "
+            )
+            print("Killing the existing daemon...")
+            assert pid is not None, "PID should not be None if daemon is running"
+            os.kill(pid, 9)
+            time.sleep(1)
+
+        print("Starting a new daemon...")
+        subprocess.Popen(
+            ["reachy-mini-daemon", "--sim"] if use_sim else ["reachy-mini-daemon"],
+            start_new_session=True,
+        )
+
+
+def find_serial_port(
+    wireless_version: bool = False,
+    vid: str = "1a86",
+    pid: str = "55d3",
+    pi_uart: str = "/dev/ttyAMA3",
+) -> list[str]:
+    """Find the serial port for Reachy Mini based on VID and PID or the Raspberry Pi UART for the wireless version.
+
+    Args:
+        wireless_version (bool): Whether to look for the wireless version using the Raspberry Pi UART.
+        vid (str): Vendor ID of the device. (eg. "1a86").
+        pid (str): Product ID of the device. (eg. "55d3").
+        pi_uart (str): Path to the Raspberry Pi UART device. (eg. "/dev/ttyAMA3").
+
+    """
+    # If it's a wireless version, we should use the Raspberry Pi UART
+    if wireless_version:
+        return [pi_uart] if os.path.exists(pi_uart) else []
+
+    # If it's a lite version, we should find it using the VID and PID
+    ports = serial.tools.list_ports.comports()
+
+    vid = vid.upper()
+    pid = pid.upper()
+
+    return [p.device for p in ports if f"USB VID:PID={vid}:{pid}" in p.hwid]
+
+
+def get_ip_address(ifname: str = "wlan0") -> str | None:
+    """Get the IP address of a specific network interface (Linux Only)."""
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    try:
+        import fcntl
+
+        return socket.inet_ntoa(
+            fcntl.ioctl(
+                s.fileno(),
+                0x8915,  # SIOCGIFADDR
+                struct.pack("256s", ifname[:15].encode("utf-8")),
+            )[20:24]
+        )
+    except OSError:
+        print(f"Could not get IP address for interface {ifname}.")
+        return None
+
+
+def convert_enum_to_dict(data: List[Any]) -> dict[str, Any]:
+    """Convert a dataclass containing Enums to a dictionary with enum values."""
+
+    def convert_value(obj: Any) -> Any:
+        if isinstance(obj, Enum):
+            return obj.value
+        return obj
+
+    return dict((k, convert_value(v)) for k, v in data)

reachy_mini/descriptions/reachy_mini/mjcf/additional.xml

@@ -0,0 +1,6 @@
+<contact>
+    <!-- <exclude name="exclude0" body1="torso" body2="sts32155"/> -->
+</contact>
+<default>
+    <equality solref="0.002 1" solimp="0.99 0.999 0.0005 0.5 2"/>
+</default>

reachy_mini/descriptions/reachy_mini/mjcf/assets/5w_speaker.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "48f0e86376312f8ca242a082",
+    "fullConfiguration": "default",
+    "id": "MUIOPFRAXdyRYA5/y",
+    "isStandardContent": false,
+    "name": "5W_SPEAKER <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "d5df0bcac25cddb763b3a090",
+    "fullConfiguration": "default",
+    "id": "MT+KnYpqaZ58+3raS",
+    "isStandardContent": false,
+    "name": "antenna <2>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_body_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "M6OWFp5hfkfES9FmB",
+    "isStandardContent": false,
+    "name": "Antenna_body_3DPrint <2>",
+    "partId": "JF/",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_l_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MHVB1f7lyvjCWrFJe",
+    "isStandardContent": false,
+    "name": "Antenna_Holder-L_3DPrint <1>",
+    "partId": "KFDB",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_r_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MX6Uc6wQ4cFgySRks",
+    "isStandardContent": false,
+    "name": "Antenna_Holder-R_3DPrint <1>",
+    "partId": "JFv",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_interface_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MObKCzX1Fco0wvr0/",
+    "isStandardContent": false,
+    "name": "Antenna_interface_3DPrint <2>",
+    "partId": "JF7",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/arducam.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "ae2c63bc6f578a46d35cd365",
+    "fullConfiguration": "default",
+    "id": "MDupaBfND/yK9FERm",
+    "isStandardContent": false,
+    "name": "Arducam <1>",
+    "partId": "JGD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "Md1pPF2974d9JOL2l",
+    "isStandardContent": false,
+    "name": "B3B-EH <1>",
+    "partId": "JFr",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh_1.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "MMuPyh0yjSzJko9Po",
+    "isStandardContent": false,
+    "name": "B3B-EH_1 <1>",
+    "partId": "JFT",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/bearing_85x110x13.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "d5ff0fe74f14f26be2deb5d4",
+    "fullConfiguration": "default",
+    "id": "MYk5LvI8gIvlMtfS7",
+    "isStandardContent": false,
+    "name": "Bearing_85x110x13 <1>",
+    "partId": "JGD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/big_lens_d40.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "f67f6ec9755019fa8d4cde38",
+    "fullConfiguration": "default",
+    "id": "M6vM68+58boAYt2AP",
+    "isStandardContent": false,
+    "name": "Big Lens D40 <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/body_down_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "M40W4a7sQuI8QEDbK",
+    "isStandardContent": false,
+    "name": "BODY-DOWN_3DPrint <1>",
+    "partId": "JFP",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/body_foot_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MFPx9mgqcSNR4iAYO",
+    "isStandardContent": false,
+    "name": "BODY-FOOT_3DPrint <1>",
+    "partId": "JFH",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/body_top_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MfqCGZgMWtuWpureN",
+    "isStandardContent": false,
+    "name": "BODY_TOP_3DPrint <1>",
+    "partId": "JFb",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/body_turning_3dprint.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MttvYsoT0rlrLKDwS",
+    "isStandardContent": false,
+    "name": "BODY-TURNING_3DPrint <1>",
+    "partId": "JFL",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/bts2_m2_6x8.part

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "ac3fd0c16468a1e3078617de",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "MHzA6RZ/kEAMV93SN",
+    "isStandardContent": false,
+    "name": "BTS2_M2_6X8 <1>",
+    "partId": "JFL",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/README.m

@@ -0,0 +1 @@
+Created with: https://github.com/pollen-robotics/reachy_mini_stl_convexify