robert-py 0.0.1__tar.gz

robert_py-0.0.1/.github/workflows/ci-cd.yml

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+name: Publish Package
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  build-and-publish:
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: read
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+            python-version: "3.x"
+            
+      - name: Install dependencies
+        run: |
+            python -m pip install --upgrade pip
+            pip install build
+
+      - name: Build Package
+        run: python -m build
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1

robert_py-0.0.1/.gitignore

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+dist
+.venv

robert_py-0.0.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: robert-py
+Version: 0.0.1
+Summary: A Python library to interact with RobeRT server.
+Project-URL: Homepage, https://github.com/JuanSobalvarro/RobeRT_client
+Author-email: Juan Sobalvarro <sobalvarrog.juans@gmail.com>
+License-Expression: MIT
+Classifier: Programming Language :: Python :: 3
+Requires-Python: >=3.14
+Requires-Dist: pyzmq>=27.0.1
+Description-Content-Type: text/markdown
+
+# RobeRT Client
+This is the python client for RobeRT (middleware for ABB robots)

robert_py-0.0.1/README.md

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+# RobeRT Client
+This is the python client for RobeRT (middleware for ABB robots)

robert_py-0.0.1/pyproject.toml

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+[build-system]
+requires = ["hatchling >= 1.26"]
+build-backend = "hatchling.build"
+
+[project]
+name = "robert-py"
+version = "0.0.1"
+authors = [
+    { name = "Juan Sobalvarro", email = "sobalvarrog.juans@gmail.com" },
+]
+description = "A Python library to interact with RobeRT server."
+readme = "README.md"
+requires-python = ">=3.14"
+classifiers = [
+    "Programming Language :: Python :: 3",
+]
+license = "MIT"
+license-files = ["LICENSE"]
+
+dependencies = [
+    "pyzmq>=27.0.1"
+]
+
+[project.urls]
+Homepage = "https://github.com/JuanSobalvarro/RobeRT_client"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/robert-py"]

robert_py-0.0.1/src/robert/client.py

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+from typing import List, Any
+import zmq
+from robert.protocol import Commands, RobTarget
+
+class RobeRTClient:
+    def __init__(self, endpoint: str, timeout: int = 5000):
+        self.context = zmq.Context()
+        self.socket = self.context.socket(zmq.REQ)
+        self.socket.setsockopt(zmq.RCVTIMEO, timeout)
+        self.endpoint = endpoint
+
+    def connect(self):
+        self.socket.connect(self.endpoint)
+
+    def _request(self, message: str) -> str:
+        try:
+            self.socket.send_string(message)
+            
+            response = self.socket.recv_string()
+
+            return response
+        except zmq.Again:
+            return "ERROR: Timeout while waiting for response"
+
+    def _format_message(self, elements: List[Any]) -> str:
+        """
+        This method formats a list of elements into a string message that can be sent to the server. in the format of
+        "e1|e2|...|en" where e1, e2, ..., en are the string representations of the elements in the list. Always starting with the command as the first element. 
+        For example, if the command is "MOVEJ" and the target is a RobTarget object, the message would be "MOVEJ|target"
+        * Important: Each element should have a __str__ method that returns a string representation of the element.
+        """
+        return "|".join(str(element) for element in elements if element is not None)
+
+    def movej(self, target: RobTarget) -> str:
+        return self._request(self._format_message([Commands.MOVEJ, target]))
+
+    def ping(self) -> str:
+        return self._request(self._format_message([Commands.PING]))

robert_py-0.0.1/src/robert/protocol.py

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+from dataclasses import dataclass
+
+
+class Commands:
+    MOVEL = "MOVEL"
+    MOVEJ = "MOVEJ"
+    MOVEABSJ = "MOVEABSJ"
+    MOVEC = "MOVEC"
+    PING = "PING"
+    PINGR = "PINGR"
+    EXIT = "EXIT"
+
+
+@dataclass
+class RobTarget:
+    x: float
+    y: float
+    z: float
+    q1: float
+    q2: float
+    q3: float
+    q4: float
+    cf1: int
+    cf4: int
+    cf6: int
+    cfx: int
+
+    def to_list(self):
+        return [self.x, self.y, self.z, self.q1, self.q2, self.q3, self.q4,
+                self.cf1, self.cf4, self.cf6, self.cfx]
+    
+    def to_csv(self):
+        return ",".join(str(value) for value in self.to_list())
+
+    def __str__(self):
+        return self.to_csv()