From d24cef3ce58c180f28edbce92f2bba4a51d307ff Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Thu, 3 Oct 2024 12:09:07 +0200
Subject: [PATCH] modernization of package
---
README.md | 2 +-
abb_egm_pyclient/__init__.py | 6 +++-
abb_egm_pyclient/egm_client.py | 31 ++++++++++---------
abb_egm_pyclient/run/__main__.py | 35 ++++++++++++++--------
abb_egm_pyclient/run/print_egm_feedback.py | 13 +++-----
abb_egm_pyclient/run/send_configuration.py | 17 +++++------
abb_egm_pyclient/run/send_pose.py | 9 ++++--
environment.yml | 7 +++--
pyproject.toml | 22 +++++++++-----
setup.cfg | 20 -------------
setup.py | 3 --
11 files changed, 83 insertions(+), 82 deletions(-)
delete mode 100644 setup.cfg
delete mode 100644 setup.py
diff --git a/README.md b/README.md
index 66cf0da..6acd78b 100644
--- a/README.md
+++ b/README.md
@@ -40,5 +40,5 @@ python -m abb_egm_pyclient.run 6510 joint 30 0 0 20 10 0 0
Or import the client from your own code:
```python
-from abb_egm_pyclient import EGMClient
+from abb_egm_pyclient.egm_client import EGMClient
```
diff --git a/abb_egm_pyclient/__init__.py b/abb_egm_pyclient/__init__.py
index 8776898..dd6ed28 100644
--- a/abb_egm_pyclient/__init__.py
+++ b/abb_egm_pyclient/__init__.py
@@ -1 +1,5 @@
-from .egm_client import EGMClient # noqa: F401,F403
+import logging
+
+DEFAULT_UDP_PORT = 6510
+
+logging.getLogger()
diff --git a/abb_egm_pyclient/egm_client.py b/abb_egm_pyclient/egm_client.py
index ec3bd59..9fa3505 100644
--- a/abb_egm_pyclient/egm_client.py
+++ b/abb_egm_pyclient/egm_client.py
@@ -1,13 +1,18 @@
import socket
import logging
-from typing import Any, Tuple
+from typing import Any, Optional, Tuple
+from abb_egm_pyclient import DEFAULT_UDP_PORT
from abb_egm_pyclient.atomic_counter import AtomicCounter
-from abb_egm_pyclient.egm_pb2 import EgmRobot, EgmSensor, EgmHeader
+try:
+ from abb_egm_pyclient.egm_pb2 import EgmRobot, EgmSensor, EgmHeader # type: ignore
+except ImportError:
+ raise ImportWarning(
+ "abb_egm_pyclient.egm_pb2 not found, have you extracted the protobufs?"
+ )
import numpy as np
-import numpy.typing as npt
log = logging.getLogger(__name__)
@@ -19,7 +24,7 @@ class EGMClientException(Exception):
class EGMClientNotInitializedException(EGMClientException):
- """When user tries to access attributes set in self.recieve_from_robot()"""
+ """When method is used before initialization"""
pass
@@ -38,20 +43,20 @@ class EGMClient:
socket
UDP socket used for communication
robot_controller_address
- IP address to controller, comes from first packet recieved
+ IP address to controller, comes from first packet received
send_counter
An atomic counter used for sequence numbers for outbound packages
"""
- def __init__(self, port=6510):
+ def __init__(self, port: int = DEFAULT_UDP_PORT):
self.socket = socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM)
self.robot_controller_address = None
self.send_counter = AtomicCounter()
self.socket.bind(("", port))
- def _get_last_packet(self) -> Tuple[bytes, Any]:
- last_recieved = (None, None)
+ def _get_last_packet(self) -> Tuple[Optional[bytes], Any]:
+ last_received = (None, None)
self.socket.setblocking(False)
@@ -59,11 +64,11 @@ class EGMClient:
try:
data, addr = self.socket.recvfrom(2048) # read from socket
if data:
- last_recieved = (data, addr) # store last data and addr
+ last_received = (data, addr) # store last data and addr
except socket.error as err:
# EWOULDBLOCK: recvfrom would block since socket buffer is empty
if err.args[0] == socket.EWOULDBLOCK:
- if last_recieved[0]: # if last data got picked up
+ if last_received[0]: # if last data got picked up
break
else:
continue # else wait for data
@@ -72,7 +77,7 @@ class EGMClient:
raise err # if there is another error, raise exception
self.socket.setblocking(True)
- return last_recieved
+ return last_received
def receive_msg(self) -> EgmRobot:
"""Get latest UDP packet from IRC5."""
@@ -121,7 +126,7 @@ class EGMClient:
msg = self._create_sensor_msg()
conf_as_list = np.asarray(configuration).tolist()
-
+
joints = conf_as_list[:6]
external_joints = conf_as_list[6:]
@@ -130,8 +135,6 @@ class EGMClient:
if len(external_joints) > 0:
msg.planned.externalJoints.joints.extend(external_joints)
-
-
self.send_msg(msg)
def send_planned_frame(
diff --git a/abb_egm_pyclient/run/__main__.py b/abb_egm_pyclient/run/__main__.py
index e3889de..099054f 100644
--- a/abb_egm_pyclient/run/__main__.py
+++ b/abb_egm_pyclient/run/__main__.py
@@ -1,11 +1,22 @@
import argparse
-from abb_egm_pyclient.run.print_egm_feedback import print_egm_feedback
-from abb_egm_pyclient.run.send_configuration import send_configuration
-from abb_egm_pyclient.run.send_pose import send_pose
+
+try:
+ from abb_egm_pyclient.run.print_egm_feedback import print_egm_feedback
+ from abb_egm_pyclient.run.send_configuration import send_configuration
+ from abb_egm_pyclient.run.send_pose import send_pose
+ from abb_egm_pyclient import DEFAULT_UDP_PORT
+except ImportError:
+ raise ImportWarning("abb_egm_pyclient not found, have you installed the package?")
+
+import logging
+
+log = logging.getLogger(__name__)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run one of the example EGM scripts.")
- parser.add_argument("port", type=int, help="UDP port")
+ parser.add_argument(
+ "--port", "-p", type=int, help="UDP port", default=DEFAULT_UDP_PORT
+ )
subparsers = parser.add_subparsers(help="sub-command help", dest="subparser_name")
@@ -17,22 +28,22 @@ if __name__ == "__main__":
parser_print = subparsers.add_parser(
"print",
- help="print messages recieved from the EGM interface on the controller",
+ help="print messages received from the EGM interface on the controller",
)
parser_joint = subparsers.add_parser(
"joint",
- help="print messages recieved from the EGM interface on the controller",
+ help="send joint configuration to the robot",
)
parser_joint.add_argument(
"joint_values",
- nargs="*",
+ nargs="+",
type=float,
)
parser_pose = subparsers.add_parser(
"pose",
- help="print messages recieved from the EGM interface on the controller",
+ help="send pose to the robot",
)
parser_pose.add_argument(
"pose_values", nargs=6, type=float, metavar=("x", "y", "z", "rx", "ry", "rz")
@@ -40,17 +51,17 @@ if __name__ == "__main__":
args = parser.parse_args()
- print(args.__dict__)
+ log.debug(f"args: {args}")
if args.subparser_name == "print":
- print_egm_feedback(args.port)
+ print_egm_feedback(port=args.port)
if args.subparser_name == "joint":
if len(args.joint_values) not in (6, 7):
raise RuntimeError("Incorrect number of joint values.")
- send_configuration(args.port, args.joint_values)
+ send_configuration(args.joint_values, port=args.port)
if args.subparser_name == "pose":
- send_configuration(args.port, *args.pose_values)
+ send_configuration(args.pose_values, port=args.port)
func = func_sel_mapping[args.func_selection]
diff --git a/abb_egm_pyclient/run/print_egm_feedback.py b/abb_egm_pyclient/run/print_egm_feedback.py
index 5f88e96..59542a6 100644
--- a/abb_egm_pyclient/run/print_egm_feedback.py
+++ b/abb_egm_pyclient/run/print_egm_feedback.py
@@ -1,17 +1,12 @@
-#!/usr/bin/env python
import logging
-try:
- from abb_egm_pyclient import EGMClient
-except ImportError:
- raise ImportWarning("abb_egm not found, have you installed the package?")
+from abb_egm_pyclient.egm_client import EGMClient
+from abb_egm_pyclient import DEFAULT_UDP_PORT
-DEFAULT_UDP_PORT = 6510
+log = logging.getLogger(__name__)
-log = logging.getLogger("egm_client")
-
-def print_egm_feedback(port: int) -> None:
+def print_egm_feedback(port: int = DEFAULT_UDP_PORT) -> None:
"""Print EGM feedback.
Parameters
diff --git a/abb_egm_pyclient/run/send_configuration.py b/abb_egm_pyclient/run/send_configuration.py
index 411a975..e7f2a3d 100644
--- a/abb_egm_pyclient/run/send_configuration.py
+++ b/abb_egm_pyclient/run/send_configuration.py
@@ -1,17 +1,16 @@
-#!/usr/bin/env python
import sys
-from typing import Sequence
+from typing import List, Sequence
import time
import numpy as np
-import numpy.typing as npt
-from abb_egm_pyclient import EGMClient
+from abb_egm_pyclient.egm_client import EGMClient
+from abb_egm_pyclient import DEFAULT_UDP_PORT
-DEFAULT_UDP_PORT = 6510
-
-def send_configuration(port: int, target_conf: Sequence[float], joint_vel=1.0) -> None:
+def send_configuration(
+ target_conf: Sequence[float], port: int = DEFAULT_UDP_PORT, joint_vel=1.0
+) -> None:
"""Move robot to target configuration
Parameters
@@ -27,7 +26,7 @@ def send_configuration(port: int, target_conf: Sequence[float], joint_vel=1.0) -
egm_client = EGMClient(port=port)
pb_robot_msg = egm_client.receive_msg()
- start_conf: Sequence[float] = pb_robot_msg.feedBack.joints.joints
+ start_conf: List[float] = pb_robot_msg.feedBack.joints.joints
if len(start_conf) == len(target_conf) - 1:
start_conf.append(pb_robot_msg.feedBack.externalJoints.joints[0])
@@ -47,8 +46,6 @@ def send_configuration(port: int, target_conf: Sequence[float], joint_vel=1.0) -
print(f"Current configuration {cur_configuration}")
- new_conf = start_conf_arr
-
conf = []
for start_pos, delta in zip(start_conf, deltas):
abs_change = n * delta / num_msgs
diff --git a/abb_egm_pyclient/run/send_pose.py b/abb_egm_pyclient/run/send_pose.py
index e709586..27a65db 100644
--- a/abb_egm_pyclient/run/send_pose.py
+++ b/abb_egm_pyclient/run/send_pose.py
@@ -1,6 +1,11 @@
-#!/usr/bin/env python
"""Send pose example."""
+from typing import List
+from abb_egm_pyclient import DEFAULT_UDP_PORT
-def send_pose(port, x, y, z, rx, ry, rz):
+
+def send_pose(
+ target_pose: List[float],
+ port: int = DEFAULT_UDP_PORT,
+):
raise NotImplementedError("Planned example")
diff --git a/environment.yml b/environment.yml
index 0d84b95..e3d6901 100644
--- a/environment.yml
+++ b/environment.yml
@@ -1,7 +1,8 @@
-name: abb-egm-examples
+name: abb_egm_pyclient
channels:
- conda-forge
dependencies:
- - python >=3.7, <3.10
- - protobuf
- numpy
+ - python >=3.7, <3.13
+ - protobuf
+ - ruff
diff --git a/pyproject.toml b/pyproject.toml
index 4d7a504..665a089 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,9 +1,17 @@
+[project]
+name = "abb_egm_pyclient"
+version = "0.1.0"
+description = "Python client to send EGM messages to ABB robots"
+authors = [
+ { name = "Anton Tetov", email = "anton@tetov.se" },
+]
+readme = "README.md"
+requires-python = ">= 3.7"
+license = {file = "LICENSE"}
+urls = { "Repository" = "https://gitlab.control.lth.se/robotlab/abb_egm_pyclient/"}
+dependencies = ["numpy", "protobuf"]
+optional-dependencies = { "dev" = ["ruff"] }
+
[build-system]
-requires = ["setuptools >= 40.9.0", "wheel"]
+requires = ["setuptools>=61.0"]
build-backend = "setuptools.build_meta"
-
-[tool.isort]
-profile = "black"
-
-[tool.mypy]
-plugins = "numpy.typing.mypy_plugin"
diff --git a/setup.cfg b/setup.cfg
deleted file mode 100644
index 5ebadbe..0000000
--- a/setup.cfg
+++ /dev/null
@@ -1,20 +0,0 @@
-[metadata]
-name = abb_egm_pyclient
-version = 0.1.0
-
-[options]
-packages = abb_egm_pyclient
-python_requires = >= 3.7
-install_requires =
- protobuf
-
-[options.extras_require]
-dev =
- black
- flake8
- isort >= 5.0.0
- mypy
-
-[flake8]
-max-line-length = 88
-extend-ignore = E203
diff --git a/setup.py b/setup.py
deleted file mode 100644
index b908cbe..0000000
--- a/setup.py
+++ /dev/null
@@ -1,3 +0,0 @@
-import setuptools
-
-setuptools.setup()
--
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