From 0129458337b7b18aac4f47f52ff84e37760e007e Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Fri, 11 Feb 2022 12:35:21 +0100
Subject: [PATCH] draft of argparse setup
---
abb_egm_pyclient/run/__init__ | 0
abb_egm_pyclient/run/__main__.py | 55 +++++++++++++++++++
.../run}/print_egm_feedback.py | 8 +--
.../run}/send_configuration.py | 11 ++--
abb_egm_pyclient/run/send_pose.py | 6 ++
examples/send_frame.py | 4 --
6 files changed, 69 insertions(+), 15 deletions(-)
create mode 100644 abb_egm_pyclient/run/__init__
create mode 100644 abb_egm_pyclient/run/__main__.py
rename {examples => abb_egm_pyclient/run}/print_egm_feedback.py (81%)
rename {examples => abb_egm_pyclient/run}/send_configuration.py (88%)
create mode 100644 abb_egm_pyclient/run/send_pose.py
delete mode 100644 examples/send_frame.py
diff --git a/abb_egm_pyclient/run/__init__ b/abb_egm_pyclient/run/__init__
new file mode 100644
index 0000000..e69de29
diff --git a/abb_egm_pyclient/run/__main__.py b/abb_egm_pyclient/run/__main__.py
new file mode 100644
index 0000000..dc2a6af
--- /dev/null
+++ b/abb_egm_pyclient/run/__main__.py
@@ -0,0 +1,55 @@
+import argparse
+from abb_egm_pyclient.run import print_egm_feedback
+from abb_egm_pyclient.run import send_configuration
+from abb_egm_pyclient.run import send_pose
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser(description="Run one of the example EGM scripts.")
+ parser.add_argument("port", type=int, help="UDP port")
+
+ subparsers = parser.add_subparsers(help="sub-command help")
+
+ func_sel_mapping = {
+ "print": print_egm_feedback,
+ "joint": send_configuration,
+ "pose": send_pose,
+ }
+
+ parser_print = subparsers.add_parsers(
+ "print",
+ help="print messages recieved from the EGM interface on the controller",
+ dest="func_selection",
+ )
+
+ parser_joint = subparsers.add_parsers(
+ "joint",
+ help="print messages recieved from the EGM interface on the controller",
+ dest="func_selection",
+ )
+ parser_joint.add_argument("joint_values", nargs="*", type=float, metavar=("j1", "j2", "j3", "j4", "j5", "j6", "j7"))
+
+ parser_world = subparsers.add_parsers(
+ "pose",
+ help="print messages recieved from the EGM interface on the controller",
+ dest="func_selection",
+ )
+ parser_joint.add_argument("pose_values", nargs="6", type=float, metavar=("x", "y", "z", "rx", "ry", "rz"))
+
+ args = parser.parse_args()
+
+ if args.func_selection == "print":
+ print_egm_feedback(args.port)
+
+ if args.func_selection == "joint":
+ if len(args.joint_values) not in (6, 7):
+ raise argparse.ArgumentError()
+ send_configuration(args.port, args.joint_values)
+
+ if args.func_selection == "pose":
+ send_configuration(args.port, *args.pose_values)
+
+ func = func_sel_mapping[args.func_selection]
+
+
+
+
diff --git a/examples/print_egm_feedback.py b/abb_egm_pyclient/run/print_egm_feedback.py
similarity index 81%
rename from examples/print_egm_feedback.py
rename to abb_egm_pyclient/run/print_egm_feedback.py
index 1e31778..5f88e96 100644
--- a/examples/print_egm_feedback.py
+++ b/abb_egm_pyclient/run/print_egm_feedback.py
@@ -6,12 +6,12 @@ try:
except ImportError:
raise ImportWarning("abb_egm not found, have you installed the package?")
-UDP_PORT = 6510
+DEFAULT_UDP_PORT = 6510
log = logging.getLogger("egm_client")
-def print_egm_feedback() -> None:
+def print_egm_feedback(port: int) -> None:
"""Print EGM feedback.
Parameters
@@ -20,7 +20,7 @@ def print_egm_feedback() -> None:
Frequency of prints in hertz.
"""
- egm_client = EGMClient(port=UDP_PORT)
+ egm_client = EGMClient(port=port)
while True:
try:
@@ -34,4 +34,4 @@ def print_egm_feedback() -> None:
if __name__ == "__main__":
- print_egm_feedback()
+ print_egm_feedback(port=DEFAULT_UDP_PORT)
diff --git a/examples/send_configuration.py b/abb_egm_pyclient/run/send_configuration.py
similarity index 88%
rename from examples/send_configuration.py
rename to abb_egm_pyclient/run/send_configuration.py
index 5c698cb..2677666 100644
--- a/examples/send_configuration.py
+++ b/abb_egm_pyclient/run/send_configuration.py
@@ -6,15 +6,12 @@ import time
import numpy as np
import numpy.typing as npt
-try:
- from abb_egm_pyclient import EGMClient
-except ImportError:
- raise ImportWarning("abb_egm not found, have you installed the package?")
+from abb_egm_pyclient import EGMClient
-UDP_PORT = 6510
+DEFAULT_UDP_PORT = 6510
-def send_configuration(target_conf: Sequence[float], joint_vel=1.0) -> None:
+def send_configuration(port: int, target_conf: Sequence[float], joint_vel=1.0) -> None:
"""Move robot to target configuration
Parameters
@@ -27,7 +24,7 @@ def send_configuration(target_conf: Sequence[float], joint_vel=1.0) -> None:
# send rate in hz
rate = 10
- egm_client = EGMClient(port=UDP_PORT)
+ egm_client = EGMClient(port=port)
pb_robot_msg = egm_client.receive_msg()
start_conf: Sequence[float] = pb_robot_msg.feedBack.joints.joints
diff --git a/abb_egm_pyclient/run/send_pose.py b/abb_egm_pyclient/run/send_pose.py
new file mode 100644
index 0000000..e709586
--- /dev/null
+++ b/abb_egm_pyclient/run/send_pose.py
@@ -0,0 +1,6 @@
+#!/usr/bin/env python
+"""Send pose example."""
+
+
+def send_pose(port, x, y, z, rx, ry, rz):
+ raise NotImplementedError("Planned example")
diff --git a/examples/send_frame.py b/examples/send_frame.py
deleted file mode 100644
index 82d32bc..0000000
--- a/examples/send_frame.py
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env python
-"""Send frame example."""
-
-raise NotImplementedError("Planned example")
--
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