From 7ae080f6de60616c91d9f3dbb00bdbea7d9cd1c4 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Thu, 11 Nov 2021 19:50:02 +0100
Subject: [PATCH] update
---
abb_egm_client/egm_client.py | 9 ++++++---
environment.yml | 1 +
examples/send_configuration.py | 15 ++++++++++-----
pyproject.toml | 8 ++++----
4 files changed, 21 insertions(+), 12 deletions(-)
diff --git a/abb_egm_client/egm_client.py b/abb_egm_client/egm_client.py
index 1dc36ff..e8a0878 100644
--- a/abb_egm_client/egm_client.py
+++ b/abb_egm_client/egm_client.py
@@ -1,11 +1,13 @@
import socket
import logging
-from typing import Any, Sequence, Tuple
+from typing import Any, Tuple
from abb_egm_client.atomic_counter import AtomicCounter
from abb_egm_client.egm_pb2 import EgmRobot, EgmSensor, EgmHeader
+import numpy as np
+import numpy.typing as npt
log = logging.getLogger(__name__)
@@ -109,7 +111,7 @@ class EGMClient:
return msg
- def send_planned_configuration(self, configuration: Sequence[float]) -> None:
+ def send_planned_configuration(self, configuration: npt.ArrayLike[float]) -> None:
"""Send target configuration to robot controller.
configuration
@@ -118,7 +120,8 @@ class EGMClient:
"""
msg = self._create_sensor_msg()
- msg.planned.joints.joints.extend(configuration)
+ conf_as_list = np.asarray(configuration).tolist()
+ msg.planned.joints.joints.extend(conf_as_list)
self.send_msg(msg)
diff --git a/environment.yml b/environment.yml
index b776b14..0d84b95 100644
--- a/environment.yml
+++ b/environment.yml
@@ -4,3 +4,4 @@ channels:
dependencies:
- python >=3.7, <3.10
- protobuf
+ - numpy
diff --git a/examples/send_configuration.py b/examples/send_configuration.py
index 1feddc0..73a405f 100644
--- a/examples/send_configuration.py
+++ b/examples/send_configuration.py
@@ -3,6 +3,8 @@ import sys
from typing import Sequence
import time
+import numpy as np
+import numpy.typing as npt
try:
from abb_egm_client import EGMClient
@@ -28,13 +30,14 @@ def send_configuration(target_conf: Sequence[float], joint_vel=1.0) -> None:
egm_client = EGMClient(port=UDP_PORT)
pb_robot_msg = egm_client.receive_msg()
- start_conf = pb_robot_msg.feedBack.joints.joints
+ start_conf: Sequence[float] = pb_robot_msg.feedBack.joints.joints
- deltas = [
- target_pos - start_pos for start_pos, target_pos in zip(start_conf, target_conf)
- ]
+ start_conf_arr = np.array(start_conf)
+ target_conf_arr = np.array(target_conf)
- max_delta = max([abs(d) for d in deltas])
+ deltas: npt.ArrayLike[float] = target_conf_arr - start_conf_arr
+
+ max_delta: float = np.fabs(deltas).max()
num_msgs = round(max_delta / joint_vel * rate)
@@ -43,6 +46,8 @@ def send_configuration(target_conf: Sequence[float], joint_vel=1.0) -> None:
cur_configuration: Sequence[float] = pb_robot_msg.feedBack.joints.joints
print(f"Current configuration {cur_configuration}")
+
+ new_conf = start_conf_arr
conf = []
for start_pos, delta in zip(start_conf, deltas):
diff --git a/pyproject.toml b/pyproject.toml
index a8df0f8..4d7a504 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,9 +1,9 @@
[build-system]
-requires = [
- "setuptools >= 40.9.0",
- "wheel",
-]
+requires = ["setuptools >= 40.9.0", "wheel"]
build-backend = "setuptools.build_meta"
[tool.isort]
profile = "black"
+
+[tool.mypy]
+plugins = "numpy.typing.mypy_plugin"
--
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