From 87daaf325f13bc980515c8e615c31baf48ca8fb6 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 4 Feb 2025 17:43:50 +0100
Subject: [PATCH] no servers on smc - all wherever ros1 is. also made joint
file for both publishing and subscribing so you only need to start
ros1_protobuf_bridge.py
---
Dockerfile_no_conda | 86 +++++++++
.../graz/cartesian_pose_command_server.py | 14 +-
python/examples/graz/clik_client.py | 19 +-
python/examples/graz/joint_copier_client.py | 8 +-
.../examples/graz/point_impedance_server.py | 4 +-
python/examples/graz/protobuf_ros1_bridge.py | 171 ++++++++++++++++++
python/examples/graz/protobuf_to_ros1.py | 64 +++----
python/examples/graz/ros1_to_protobuf.py | 37 +++-
.../__pycache__/__init__.cpython-311.pyc | Bin 488 -> 488 bytes
.../__pycache__/managers.cpython-311.pyc | Bin 61250 -> 61250 bytes
.../clik/__pycache__/__init__.cpython-311.pyc | Bin 248 -> 248 bytes
.../dmp/__pycache__/dmp.cpython-311.pyc | Bin 20199 -> 20199 bytes
python/ur_simple_control/networking/client.py | 42 ++++-
python/ur_simple_control/networking/server.py | 2 +-
.../__pycache__/get_model.cpython-311.pyc | Bin 18550 -> 18550 bytes
.../__pycache__/logging_utils.cpython-311.pyc | Bin 7294 -> 7294 bytes
.../__pycache__/visualize.cpython-311.pyc | Bin 19644 -> 19644 bytes
17 files changed, 389 insertions(+), 58 deletions(-)
create mode 100644 Dockerfile_no_conda
create mode 100644 python/examples/graz/protobuf_ros1_bridge.py
diff --git a/Dockerfile_no_conda b/Dockerfile_no_conda
new file mode 100644
index 0000000..d9735f9
--- /dev/null
+++ b/Dockerfile_no_conda
@@ -0,0 +1,86 @@
+FROM ubuntu:jammy
+
+LABEL org.opencontainers.image.authors="marko.guberina@control.lth.se"
+
+# install python3-tk without questions
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Europe/Stockholm
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ python3 \
+ python3-pip \
+ python3-tk \
+ #ipython3 \
+ git \
+ sudo \
+# man-db \
+# manpages-posix \
+ iputils-ping \
+ arp-scan \
+ # nice to have
+# python3-opencv \
+ vim \
+ vim-addon-manager \
+ vim-youcompleteme \
+ vim-python-jedi \
+ zsh \
+ zsh-syntax-highlighting \
+ libarchive-tools \
+ libxcb-cursor0\
+ python3-python-qt-binding
+
+# qt-binding is a really unnecessary 300MB, but i don't want
+# to do more matplotlib hacks
+# if you want manuals:
+#RUN sed -i 's:^path-exclude=/usr/share/man:#path-exclude=/usr/share/man:' \
+# /etc/dpkg/dpkg.cfg.d/excludes
+# we're running out of space on the docker.control
+# and noone is reading manuals anyway
+#RUN yes | unminimize
+
+# make the environment more usable
+# create user
+RUN useradd -m -s /bin/zsh -G sudo -u 1000 student
+
+WORKDIR /home/student/
+RUN passwd -d student
+USER student
+# copy repo to workdir
+RUN mkdir SimpleManipulatorControl
+COPY --chown=student . ./SimpleManipulatorControl
+RUN mkdir -p .cache/zsh/
+COPY --chown=student /dot_files_for_docker/.vimrc /home/student/
+COPY --chown=student /dot_files_for_docker/.zshrc /home/student/
+COPY --chown=student /dot_files_for_docker/global_extra_conf.py /home/student/
+
+
+# sh does not have sourcing
+# and some packages (conda) want shell environment variables
+# (which i can say a lot about, but can't do anything about)
+# ((the only reason to even use conda is to not have to compile pinocchio))
+SHELL ["/bin/bash", "--login", "-c"]
+#SHELL ["/bin/bash"]
+
+# this is enough to run clik
+WORKDIR /home/student/
+USER student
+# TODO: install casadi and pinochio 3.0+
+# TODO: verify this stuff below works
+# --> this can be done with conda
+#RUN mkdir -p ~/miniconda3
+#RUN wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /home/student/miniconda3/miniconda.sh
+#RUN bash /home/student/miniconda3/miniconda.sh -b -u -p ~/miniconda3
+#RUN rm /home/student/miniconda3/miniconda.sh
+#ENV PATH=/home/student/miniconda3/bin:$PATH
+#RUN source /home/student/miniconda3/bin/activate
+RUN pip install -e ./SimpleManipulatorControl/python/
+#RUN conda config --add channels conda-forge
+#RUN conda install --solver=classic conda-forge::conda-libmamba-solver conda-forge::libmamba conda-forge::libmambapy conda-forge::libarchive
+#RUN conda install --solver=classic -y pinocchio crocoddyl -c conda-forge
+#RUN conda install -y pinocchio crocoddyl -c conda-forge
+#RUN conda install -y opencv
+RUN pip install pinocchio crocoddyl matplotlib meshcat ur_rtde argcomplete \
+ qpsolvers ecos example_robot_data meshcat_shapes \
+ pyqt6 opencv-python
+
+RUN vam install python-jedi && vam install youcompleteme
diff --git a/python/examples/graz/cartesian_pose_command_server.py b/python/examples/graz/cartesian_pose_command_server.py
index 8611aad..3e04dfc 100644
--- a/python/examples/graz/cartesian_pose_command_server.py
+++ b/python/examples/graz/cartesian_pose_command_server.py
@@ -4,14 +4,14 @@ from ur_simple_control.managers import (
ProcessManager,
getMinimalArgParser,
)
-from ur_simple_control.networking.server import server
-from ur_simple_control.networking.client import client
+from ur_simple_control.networking.server import server_sender
+from ur_simple_control.networking.client import client_receiver
import time
def getArgs():
parser = getMinimalArgParser()
- parser.description = "simple test program. sends commands to go in a circle, receives and prints out wrenches received by the client executing the go-in-circle commands"
+ parser.description = "simple test program. sends commands to go in a circle, receives and prints out wrenches received by the client_receiver executing the go-in-circle commands"
parser.add_argument("--host", type=str, help="host ip address", default="127.0.0.1")
parser.add_argument("--port", type=int, help="host's port", default=7777)
@@ -49,12 +49,16 @@ if __name__ == "__main__":
# command_sender: 7777
sender = ProcessManager(
- args, server, {"T_goal": pin.SE3.Identity(), "v": np.zeros(6)}, 0
+ args, server_sender, {"T_goal": pin.SE3.Identity(), "v": np.zeros(6)}, 0
)
# wrench_receiver: 6666
args.port = 6666
receiver = ProcessManager(
- args, client, {"wrench": np.zeros(6)}, 4, init_value={"wrench": np.zeros(6)}
+ args,
+ client_receiver,
+ {"wrench": np.zeros(6)},
+ 4,
+ init_value={"wrench": np.zeros(6)},
)
freq = 200
i = 0
diff --git a/python/examples/graz/clik_client.py b/python/examples/graz/clik_client.py
index 1615311..95828d7 100644
--- a/python/examples/graz/clik_client.py
+++ b/python/examples/graz/clik_client.py
@@ -1,8 +1,8 @@
import pinocchio as pin
import numpy as np
from functools import partial
-from ur_simple_control.networking.client import client
-from ur_simple_control.networking.server import server
+from ur_simple_control.networking.client import client_receiver, client_sender
+from ur_simple_control.networking.server import server_sender
from ur_simple_control.clik.clik import *
from ur_simple_control.managers import (
ProcessManager,
@@ -18,7 +18,8 @@ def get_args():
parser.description = "the robot will received joint angles from a socket and go to them in joint space"
# add more arguments here from different Simple Manipulator Control modules
parser.add_argument("--host", type=str, help="host ip address", default="127.0.0.1")
- parser.add_argument("--port", type=int, help="host's port", default=7777)
+ parser.add_argument("--port-wrench", type=int, help="host's port", default=6666)
+ parser.add_argument("--port-command", type=int, help="host's port", default=7777)
args = parser.parse_args()
return args
@@ -44,8 +45,9 @@ def controlLoopClikExternalGoal(
T_w_e = robot.getT_w_e()
data = receiver.getData()
T_goal = data["T_goal"]
- #print("translation:", T_goal.translation)
- #print("rotation:", pin.Quaternion(T_goal.rotation))
+ print(T_goal)
+ # print("translation:", T_goal.translation)
+ # print("rotation:", pin.Quaternion(T_goal.rotation))
SEerror = T_w_e.actInv(T_goal)
err_vector = pin.log6(SEerror).vector
J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id)
@@ -88,16 +90,17 @@ if __name__ == "__main__":
# VERY important that the first q we'll pass as desired is the current q, meaning the robot won't move
# this is set with init_value
# command_sender: 7777
+ args.port = args.port_command
receiver = ProcessManager(
args,
- client,
+ client_receiver,
{"T_goal": pin.SE3.Identity(), "v": np.zeros(6)},
4,
init_value={"T_goal": robot.getT_w_e(), "v": np.zeros(6)},
)
# wrench_sender: 6666
- args.port = 6666
- sender = ProcessManager(args, server, {"wrench": np.zeros(6)}, 0)
+ args.port = args.port_wrench
+ sender = ProcessManager(args, client_sender, {"wrench": np.zeros(6)}, 0)
log_item = {
"qs": np.zeros((robot.model.nq,)),
"dqs": np.zeros((robot.model.nv,)),
diff --git a/python/examples/graz/joint_copier_client.py b/python/examples/graz/joint_copier_client.py
index 00bc0af..e34396c 100644
--- a/python/examples/graz/joint_copier_client.py
+++ b/python/examples/graz/joint_copier_client.py
@@ -1,7 +1,7 @@
import pinocchio as pin
import numpy as np
from functools import partial
-from ur_simple_control.networking.client import client
+from ur_simple_control.networking.client import client_receiver
from ur_simple_control.managers import (
ProcessManager,
getMinimalArgParser,
@@ -56,7 +56,11 @@ if __name__ == "__main__":
# VERY important that the first q we'll pass as desired is the current q, meaning the robot won't move
# this is set with init_value
receiver = ProcessManager(
- args, client, {"q": robot.q.copy()}, 4, init_value={"q": robot.q.copy()}
+ args,
+ client_receiver,
+ {"q": robot.q.copy()},
+ 4,
+ init_value={"q": robot.q.copy()},
)
log_item = {
"qs": np.zeros((robot.model.nq,)),
diff --git a/python/examples/graz/point_impedance_server.py b/python/examples/graz/point_impedance_server.py
index 260efaf..0c66439 100644
--- a/python/examples/graz/point_impedance_server.py
+++ b/python/examples/graz/point_impedance_server.py
@@ -16,7 +16,7 @@ from ur_simple_control.managers import (
ControlLoopManager,
RobotManager,
)
-from ur_simple_control.networking.server import server
+from ur_simple_control.networking.server import server_sender
def getArgs():
@@ -199,7 +199,7 @@ if __name__ == "__main__":
}
q_init = robot.getQ()
Mtool_init = robot.getT_w_e()
- sender = ProcessManager(args, server, {"q": np.zeros(6)}, 0)
+ sender = ProcessManager(args, server_sender, {"q": np.zeros(6)}, 0)
if not args.cartesian_space_impedance:
controlLoop = partial(
diff --git a/python/examples/graz/protobuf_ros1_bridge.py b/python/examples/graz/protobuf_ros1_bridge.py
new file mode 100644
index 0000000..4c412c9
--- /dev/null
+++ b/python/examples/graz/protobuf_ros1_bridge.py
@@ -0,0 +1,171 @@
+import socket
+from google.protobuf.internal.encoder import _VarintBytes
+from google.protobuf.internal.decoder import _DecodeVarint32
+import argparse
+import message_specs_pb2
+from functools import partial
+import importlib.util
+import random
+import time
+from threading import Thread
+
+if importlib.util.find_spec("rospy"):
+ from agents_test.msg import Command
+ import rospy
+ from geometry_msgs.msg import WrenchStamped
+
+
+def getArgs():
+ parser = argparse.ArgumentParser()
+ parser.description = (
+ "get ros1 message, make it a protobuf message, send it via tcp socket"
+ )
+ parser.add_argument("--host", type=str, help="host ip address", default="127.0.0.1")
+ parser.add_argument(
+ "--port-wrench", type=int, help="host's port for receiving wrench", default=6666
+ )
+ parser.add_argument("--port-command", type=int, help="host's port", default=7777)
+
+ args = parser.parse_args()
+ return args
+
+
+def command_callback(command_socket, c):
+ position = [c.goal.position.x, c.goal.position.y, c.goal.position.z]
+ orientation = [
+ c.goal.orientation.w,
+ c.goal.orientation.x,
+ c.goal.orientation.y,
+ c.goal.orientation.z,
+ ]
+ position_vel = [c.goal_dot.position.x, c.goal_dot.position.y, c.goal_dot.position.z]
+ orientation_vel = [
+ c.goal_dot.orientation.w,
+ c.goal_dot.orientation.x,
+ c.goal_dot.orientation.y,
+ ]
+ pb2_msg = message_specs_pb2.T_goal()
+ pb2_msg.position.extend(position)
+ pb2_msg.rotation.extend(orientation)
+ pb2_msg.velocity.extend(position_vel + orientation_vel)
+ msg_length = pb2_msg.ByteSize()
+ msg_serialized = pb2_msg.SerializeToString()
+ msg = _VarintBytes(msg_length) + msg_serialized
+ command_socket.send(msg)
+
+
+def sendRandomForTest(comm_socket):
+ while True:
+ pb2_msg = message_specs_pb2.T_goal()
+ pb2_msg.position.extend([random.random()] * 3)
+ pb2_msg.rotation.extend([random.random()] * 4)
+ pb2_msg.velocity.extend([random.random()] * 6)
+ msg_length = pb2_msg.ByteSize()
+ msg_serialized = pb2_msg.SerializeToString()
+ msg = _VarintBytes(msg_length) + msg_serialized
+ comm_socket.send(msg)
+ time.sleep(0.002)
+
+
+def parse_message(buffer):
+ """
+ parse_message
+ -------------
+ here the message is what we got from recv(),
+ and parsing it refers to finding serialized pb2 messages in it
+ NOTE: we only keep the latest message because
+ we're not going to do anything with the missed message.
+ the assumption is that we only get the same kind of message from
+ a sensor or something similar, not files or whatever else needs to be whole
+ """
+ pos, next_pos = 0, 0
+ buffer_len = len(buffer)
+ msg_in_bytes = b""
+ len_size_offset = 0
+ while True:
+ next_pos, pos = _DecodeVarint32(buffer, pos)
+ if pos + next_pos > buffer_len:
+ return msg_in_bytes, pos - len_size_offset
+ msg_in_bytes = _VarintBytes(pos + next_pos) + buffer[pos : pos + next_pos]
+ len_size_offset = len(_VarintBytes(pos + next_pos))
+ pos += next_pos
+ if pos >= buffer_len:
+ return msg_in_bytes, pos
+
+
+def getCommandClient(args):
+ args = getArgs()
+ host_addr = (args.host, args.port_command)
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.bind(host_addr)
+ print("NETWORKING_SERVER_COMMAND_SENDER listening on port ", args.port_command)
+ s.listen()
+ command_socket, comm_addr = s.accept()
+ # we're only accepting a single connection
+ s.close()
+ print("NETWORKING_SERVER_COMMAND_SENDER: accepted a client", comm_addr)
+ return command_socket
+
+
+def getWrenchClient(args):
+ args = getArgs()
+ host_addr = (args.host, args.port_wrench)
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.bind(host_addr)
+ print("NETWORKING_SERVER_COMMAND_SENDER listening on port ", args.port_wrench)
+ s.listen()
+ wrench_socket, comm_addr = s.accept()
+ # we're only accepting a single connection
+ s.close()
+ print("NETWORKING_SERVER_COMMAND_SENDER: accepted a client", comm_addr)
+ return wrench_socket
+
+
+if __name__ == "__main__":
+ if importlib.util.find_spec("rospy"):
+ rospy.init_node("ros1_to_ur5e_mapper", anonymous=True)
+ ros1_exists = True
+ else:
+ ros1_exists = False
+ args = getArgs()
+ command_socket = getCommandClient(args)
+ wrench_socket = getWrenchClient(args)
+
+ # ros subscriber
+ if ros1_exists:
+ callback_part = partial(command_callback, command_socket)
+ rospy.Subscriber("/robot_command", Command, callback_part)
+ pub = rospy.Publisher("wrench_msg_mapper", WrenchStamped, queue_size=10)
+ else:
+ t = Thread(target=sendRandomForTest, args=(command_socket,))
+ t.run()
+
+ buffer = b""
+ while True:
+ # receive wrench as protobuf message
+ msg_raw = wrench_socket.recv(1024)
+ buffer += msg_raw
+ if len(msg_raw) < 1:
+ continue
+ msg_in_bytes, pos = parse_message(buffer)
+ buffer = buffer[pos:]
+
+ next_pos, pos = 0, 0
+ next_pos, pos = _DecodeVarint32(msg_in_bytes, pos)
+ pb2_msg_in_bytes_cut = msg_in_bytes[pos : pos + next_pos]
+ pb2_msg = message_specs_pb2.wrench()
+ pb2_msg.ParseFromString(pb2_msg_in_bytes_cut)
+ print(pb2_msg)
+
+ # send wrench as ros1 message
+ if ros1_exists:
+ wrench_message = WrenchStamped()
+ wrench_message.wrench.force.x = pb2_msg.wrench[0]
+ wrench_message.wrench.force.y = pb2_msg.wrench[1]
+ wrench_message.wrench.force.z = pb2_msg.wrench[2]
+ wrench_message.wrench.torque.x = pb2_msg.wrench[3]
+ wrench_message.wrench.torque.y = pb2_msg.wrench[4]
+ wrench_message.wrench.torque.z = pb2_msg.wrench[5]
+ wrench_message.header.stamp = rospy.Time.now()
+ wrench_message.header.frame_id = 0
+ pub.publish(wrench_message)
diff --git a/python/examples/graz/protobuf_to_ros1.py b/python/examples/graz/protobuf_to_ros1.py
index 2c3afcc..0b35f2b 100644
--- a/python/examples/graz/protobuf_to_ros1.py
+++ b/python/examples/graz/protobuf_to_ros1.py
@@ -1,11 +1,13 @@
import socket
from google.protobuf.internal.encoder import _VarintBytes
from google.protobuf.internal.decoder import _DecodeVarint32
-import time
import argparse
import message_specs_pb2
-import rospy
-from geometry_msgs.msg import WrenchStamped
+import importlib.util
+
+if importlib.util.find_spec("rospy"):
+ import rospy
+ from geometry_msgs.msg import WrenchStamped
def getArgs():
@@ -47,27 +49,29 @@ def parse_message(buffer):
return msg_in_bytes, pos
-
# ros parts
-#rospy.init_node("ur5e_to_ros1_mapper", anonymous=True)
-#pub = rospy.Publisher("wrench_msg_mapper", WrenchStamped, queue_size=10)
+if importlib.util.find_spec("rospy"):
+ ros1_exists = True
+ rospy.init_node("ur5e_to_ros1_mapper", anonymous=True)
+ pub = rospy.Publisher("wrench_msg_mapper", WrenchStamped, queue_size=10)
+else:
+ ros1_exists = False
+
args = getArgs()
host_addr = (args.host, args.port)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+s.bind(host_addr)
+print("listening on port ", args.port)
+s.listen()
+comm_socket, comm_addr = s.accept()
+# we're only accepting a single connection
+s.close()
+print("NETWORKING_SERVER_RECEIVER: accepted a client", comm_addr)
buffer = b""
-while True:
- try:
- s.connect(host_addr)
- break
- except ConnectionRefusedError:
- time.sleep(0.005)
-print("NETWORKING CLIENT: connected to server")
-s.settimeout(None)
-#try:
while True:
- msg_raw = s.recv(1024)
+ msg_raw = comm_socket.recv(1024)
buffer += msg_raw
print(msg_raw)
print(len(msg_raw))
@@ -83,19 +87,15 @@ while True:
pb2_msg.ParseFromString(pb2_msg_in_bytes_cut)
print(pb2_msg.wrench)
- # here you send construct and send the ros message
- #wrench_message = WrenchStamped()
- #wrench_message.wrench.force.x = pb2_msg.wrench[0]
- #wrench_message.wrench.force.y = pb2_msg.wrench[1]
- #wrench_message.wrench.force.z = pb2_msg.wrench[2]
- #wrench_message.wrench.torque.x = pb2_msg.wrench[3]
- #wrench_message.wrench.torque.y = pb2_msg.wrench[4]
- #wrench_message.wrench.torque.z = pb2_msg.wrench[5]
- #wrench_message.header.stamp = rospy.Time.now()
- #wrench_message.header.frame_id = 0
- #pub.publish(wrench_message)
- # time.sleep(0.002)
-
-#except KeyboardInterrupt:
-# s.close()
-# print("NETWORKING_CLIENT: caught KeyboardInterrupt, i'm out")
+ if ros1_exists:
+ # here you send construct and send the ros message
+ wrench_message = WrenchStamped()
+ wrench_message.wrench.force.x = pb2_msg.wrench[0]
+ wrench_message.wrench.force.y = pb2_msg.wrench[1]
+ wrench_message.wrench.force.z = pb2_msg.wrench[2]
+ wrench_message.wrench.torque.x = pb2_msg.wrench[3]
+ wrench_message.wrench.torque.y = pb2_msg.wrench[4]
+ wrench_message.wrench.torque.z = pb2_msg.wrench[5]
+ wrench_message.header.stamp = rospy.Time.now()
+ wrench_message.header.frame_id = 0
+ pub.publish(wrench_message)
diff --git a/python/examples/graz/ros1_to_protobuf.py b/python/examples/graz/ros1_to_protobuf.py
index 9eb487e..23b9a47 100644
--- a/python/examples/graz/ros1_to_protobuf.py
+++ b/python/examples/graz/ros1_to_protobuf.py
@@ -2,11 +2,15 @@ import socket
from google.protobuf.internal.encoder import _VarintBytes
import argparse
import message_specs_pb2
+import random
+import importlib.util
import time
-from agents_test.msg import Command
-import rospy
from functools import partial
+if importlib.util.find_spec("rospy"):
+ from agents_test.msg import Command
+ import rospy
+
def getArgs():
parser = argparse.ArgumentParser()
@@ -46,8 +50,25 @@ def callback(comm_socket, c):
comm_socket.send(msg)
+def sendRandomForTest(comm_socket):
+ pb2_msg = message_specs_pb2.T_goal()
+ pb2_msg.position.extend([random.random()] * 3)
+ pb2_msg.rotation.extend([random.random()] * 4)
+ pb2_msg.velocity.extend([random.random()] * 6)
+ # print(pb2_msg)
+ msg_length = pb2_msg.ByteSize()
+ msg_serialized = pb2_msg.SerializeToString()
+ msg = _VarintBytes(msg_length) + msg_serialized
+ comm_socket.send(msg)
+ time.sleep(0.002)
+
+
if __name__ == "__main__":
- rospy.init_node("ros1_to_ur5e_mapper", anonymous=True)
+ if importlib.util.find_spec("rospy"):
+ rospy.init_node("ros1_to_ur5e_mapper", anonymous=True)
+ ros1_exists = True
+ else:
+ ros1_exists = False
args = getArgs()
host_addr = (args.host, args.port)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -61,9 +82,13 @@ if __name__ == "__main__":
print("NETWORKING_SERVER: accepted a client", comm_addr)
# ros subscriber
- callback_part = partial(callback, comm_socket)
- rospy.Subscriber("/robot_command", Command, callback_part)
- rospy.spin()
+ if ros1_exists:
+ callback_part = partial(callback, comm_socket)
+ rospy.Subscriber("/robot_command", Command, callback_part)
+ rospy.spin()
+ else:
+ while True:
+ sendRandomForTest(comm_socket)
comm_socket.close()
diff --git a/python/ur_simple_control/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/__pycache__/__init__.cpython-311.pyc
index 83e8dc1caa549a0c48d4b1b555bf9f81c9281138..254c84a11fc8c60bbcfaee9c36e4a862c87e1e19 100644
GIT binary patch
delta 20
ccmaFC{DPT#IWI340|Ns?<og91x$iOp06z%^F8}}l
delta 20
bcmaFC{DPT#IWI340|NuYz9^rK+;<rPJgNn&
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc
index 97057c8041c533926c4dc301dcf62c471326ec28..694dcc15a77d3d7eb33a5860e00f52bb41d3f418 100644
GIT binary patch
delta 21
dcmX?fkNMC&X0GMDyj%<n3=EO)H*#6L2LM!$2Sxw@
delta 21
dcmX?fkNMC&X0GMDyj%<n3=B#SHgZ|K2LMv~2LJ#7
diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-311.pyc
index 22beafda9e5a29c24a3dc6f2ff7234ca612005bd..434ef404cf030ac6960723afbe8fbd897f55614f 100644
GIT binary patch
delta 19
bcmeyt_=AyqIWI340|Ns?<og8^x!(c+I)(;1
delta 19
acmeyt_=AyqIWI340|NuY^zP7!+;0Im+6Bn~
diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc
index c5479ed52b6db36c9b993efa9e233fa29bc93cf1..d34fdb7c319f1b550e77838c5f2ad7c992d5bb82 100644
GIT binary patch
delta 22
ecmaDpm+|>rM(*Xjyj%<n3=EO)7i{Fd;|Bm)i3hI$
delta 22
ecmaDpm+|>rM(*Xjyj%<n3=E-~b{o0x_yGV?-v)yK
diff --git a/python/ur_simple_control/networking/client.py b/python/ur_simple_control/networking/client.py
index 2e23f47..2cc4d94 100644
--- a/python/ur_simple_control/networking/client.py
+++ b/python/ur_simple_control/networking/client.py
@@ -7,7 +7,7 @@ import pickle
import time
-def client(args, init_command, shm_name, lock):
+def client_receiver(args, init_command, shm_name, lock):
"""
client
-------
@@ -66,7 +66,7 @@ def client(args, init_command, shm_name, lock):
except ConnectionRefusedError:
time.sleep(0.005)
if args.debug_prints:
- print("NETWORKING CLIENT: connected to server")
+ print("NETWORKING CLIENT_RECEIVER: connected to server")
try:
while True:
@@ -106,3 +106,41 @@ def client(args, init_command, shm_name, lock):
s.close()
if args.debug_prints:
print("NETWORKING_CLIENT: caught KeyboardInterrupt, i'm out")
+
+
+def client_sender(args, init_command, queue):
+ """
+ server
+ -------
+ listens for a connection, then sends messages to the singular accepted client
+
+ ex. host = "127.0.0.1"
+ ex. host_port = 7777
+
+ use comm_direction = 0 in processmanager for this
+ """
+ encoder_decoder = DictPb2EncoderDecoder()
+ host_addr = (args.host, args.port)
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ while True:
+ try:
+ s.connect(host_addr)
+ break
+ except ConnectionRefusedError:
+ time.sleep(0.005)
+ if args.debug_prints:
+ print("NETWORKING CLIENT_SENDER: connected to server")
+
+ try:
+ while True:
+ # the construction of the message should happen in processmanager
+ msg_dict = queue.get()
+ if msg_dict == "befree":
+ if args.debug_prints:
+ print("NETWORKING_SERVER: got befree, networking server out")
+ break
+ s.send(encoder_decoder.dictToSerializedPb2Msg(msg_dict))
+ except KeyboardInterrupt:
+ if args.debug_prints:
+ print("NETWORKING_SERVER: caugth KeyboardInterrupt, networking server out")
+ s.close()
diff --git a/python/ur_simple_control/networking/server.py b/python/ur_simple_control/networking/server.py
index f3bd566..39e112e 100644
--- a/python/ur_simple_control/networking/server.py
+++ b/python/ur_simple_control/networking/server.py
@@ -3,7 +3,7 @@ from google.protobuf.internal.encoder import _VarintBytes
from ur_simple_control.networking.util import DictPb2EncoderDecoder
-def server(args, init_command, queue):
+def server_sender(args, init_command, queue):
"""
server
-------
diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-311.pyc
index 434ecea554d17d59d10efe9ced81a04145265c2d..27ce8990a08fb141252db94f8dac8142eb9f7535 100644
GIT binary patch
delta 21
dcmex1f$`e}My}<&yj%<n3=EO)H*)28002<12Aco?
delta 21
dcmex1f$`e}My}<&yj%<n3=HNEHge^7002*!25JBR
diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-311.pyc
index fbd1ed2ac5e0c105c2a48f4977dd704e6ef03896..281e3f4efb188f9df078eb620e9ca6a200500994 100644
GIT binary patch
delta 20
bcmexo@y~*LIWI340|Ns?<og91xr=20NeBjZ
delta 20
bcmexo@y~*LIWI340|Ntt%X-_5+{H2gMFs`F
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc
index c34b2cf67deaa3275c474abf33199ce0e6406ff1..85f6de7bf9de87d0277befb626529d2838866f6a 100644
GIT binary patch
delta 22
ecmdlplX1^XM(*Xjyj%<n3=EO)7i{F-=mP*zvIisp
delta 22
ecmdlplX1^XM(*Xjyj%<n3=DUdrf%fk=mP*!YX>6$
--
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