From 11eec22b6942ebb71786a121a040fea04d194cc3 Mon Sep 17 00:00:00 2001 From: Nguyen Pham Date: Tue, 29 Oct 2024 15:28:06 +0700 Subject: [PATCH] add basic conty functions to dcp3 --- proto/hri.proto | 16 ++ proto/hri_msgs.proto | 29 +++ proto/shared_msgs.proto | 18 ++ .../dist/neuromeka-3.3.0.1-py3-none-any.whl | Bin 240275 -> 0 bytes .../dist/neuromeka-3.3.0.2-py3-none-any.whl | Bin 0 -> 247890 bytes python/examples/indydcp3_example.ipynb | 131 +++++++++-- python/neuromeka.egg-info/PKG-INFO | 38 ++-- python/neuromeka.egg-info/SOURCES.txt | 14 +- python/neuromeka.egg-info/requires.txt | 6 +- .../__pycache__/__init__.cpython-312.pyc | Bin 972 -> 972 bytes .../__pycache__/indydcp3.cpython-312.pyc | Bin 95779 -> 98354 bytes python/neuromeka/indydcp3.py | 60 ++++- python/neuromeka/proto/__init__.py | 4 +- python/neuromeka/proto/hri_msgs_pb2.py | 32 +++ python/neuromeka/proto/hri_msgs_pb2_grpc.py | 4 + python/neuromeka/proto/hri_pb2.py | 26 +++ python/neuromeka/proto/hri_pb2_grpc.py | 108 +++++++++ python/neuromeka/proto/shared_msgs_pb2.py | 25 +++ .../neuromeka/proto/shared_msgs_pb2_grpc.py | 4 + python/neuromeka/proto_step/__init__.py | 3 + python/neuromeka/proto_step/hri_msgs_pb2.py | 208 ++++++++++++++++++ .../neuromeka/proto_step/hri_msgs_pb2_grpc.py | 4 + python/neuromeka/proto_step/hri_pb2.py | 68 ++++++ python/neuromeka/proto_step/hri_pb2_grpc.py | 108 +++++++++ .../neuromeka/proto_step/shared_msgs_pb2.py | 119 ++++++++++ .../proto_step/shared_msgs_pb2_grpc.py | 4 + python/setup.py | 8 +- 27 files changed, 989 insertions(+), 48 deletions(-) create mode 100644 proto/hri.proto create mode 100644 proto/hri_msgs.proto create mode 100644 proto/shared_msgs.proto delete mode 100644 python/dist/neuromeka-3.3.0.1-py3-none-any.whl create mode 100644 python/dist/neuromeka-3.3.0.2-py3-none-any.whl create mode 100644 python/neuromeka/proto/hri_msgs_pb2.py create mode 100644 python/neuromeka/proto/hri_msgs_pb2_grpc.py create mode 100644 python/neuromeka/proto/hri_pb2.py create mode 100644 python/neuromeka/proto/hri_pb2_grpc.py create mode 100644 python/neuromeka/proto/shared_msgs_pb2.py create mode 100644 python/neuromeka/proto/shared_msgs_pb2_grpc.py create mode 100644 python/neuromeka/proto_step/hri_msgs_pb2.py create mode 100644 python/neuromeka/proto_step/hri_msgs_pb2_grpc.py create mode 100644 python/neuromeka/proto_step/hri_pb2.py create mode 100644 python/neuromeka/proto_step/hri_pb2_grpc.py create mode 100644 python/neuromeka/proto_step/shared_msgs_pb2.py create mode 100644 python/neuromeka/proto_step/shared_msgs_pb2_grpc.py diff --git a/proto/hri.proto b/proto/hri.proto new file mode 100644 index 0000000..04dc121 --- /dev/null +++ b/proto/hri.proto @@ -0,0 +1,16 @@ +// Created by Gwanwoo Kim on 2021-05-28. +// Copyright 2021 Neuromeka Inc. All rights reserved. + +syntax = "proto3"; +package IndyFramework.Protobuf.HRI; + +import "hri_msgs.proto"; + +service HRI { + // ---------------------------------------------------------------- // + // Conty + // ---------------------------------------------------------------- // + + rpc GetRefFrameList(GetRefFrameListReq) returns (GetRefFrameListRes) {} + rpc SetRefFrameList(SetRefFrameListReq) returns (SetRefFrameListRes) {} +} diff --git a/proto/hri_msgs.proto b/proto/hri_msgs.proto new file mode 100644 index 0000000..7605d9b --- /dev/null +++ b/proto/hri_msgs.proto @@ -0,0 +1,29 @@ +// Created by Gwanwoo Kim on 2021-05-28. +// Copyright 2021 Neuromeka Inc. All rights reserved. + +syntax = "proto3"; +package IndyFramework.Protobuf.HRI; + +import "shared_msgs.proto"; +//import "common_msgs.proto"; +//import "device_msgs.proto"; + +//////////////////////////GetRefFrameList///////////////////////// +message GetRefFrameListReq {} + +message GetRefFrameListRes { + repeated IndyFramework.Protobuf.Shared.NamedReferencePosition ref_frames = 1; + string default_name = 2; + string msg = 100; +} + +//////////////////////////SetRefFrameList///////////////////////// +message SetRefFrameListReq { + repeated IndyFramework.Protobuf.Shared.NamedReferencePosition ref_frames = 1; + string default_name = 2; +} + +message SetRefFrameListRes { + string msg = 100; +} + diff --git a/proto/shared_msgs.proto b/proto/shared_msgs.proto new file mode 100644 index 0000000..4f14f3b --- /dev/null +++ b/proto/shared_msgs.proto @@ -0,0 +1,18 @@ +syntax = "proto3"; + +package IndyFramework.Protobuf.Shared; + +//////////////////////////////////////////////////////////////////////////////// +// shared messages +//////////////////////////////////////////////////////////////////////////////// + +message NamedReferencePosition { + string name = 1; + repeated float tpos = 2; + repeated float tpos0 = 3; + repeated float tpos1 = 4; + repeated float tpos2 = 5; + repeated float jpos0 = 6; + repeated float jpos1 = 7; + repeated float jpos2 = 8; +} diff --git a/python/dist/neuromeka-3.3.0.1-py3-none-any.whl b/python/dist/neuromeka-3.3.0.1-py3-none-any.whl deleted file mode 100644 index 1a3d016c4b853761ef037efcd4706ce3cbaa63e5..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 240275 zcmZ6xQ;;r9uq-;ZZQHiB#3`|r39=j`)TQ4bx_on0MOnc0dm zpkQb~KtNDHBODl7Jq}OhxBq2}z(7Fg|3!N}GM9+8*##jYMTat|v3@q|Izh>)LWh0SNp51-CI0XH+kAQ4I}sEH z=W<4~8BG_CTv4E$lgbcJi9PQ$d3u@}xRugX;`EmE$4bh?W-G3z%Yq0~vhU;8x;t|^ z#<@VViy-3qyIx4%wT^r_Xb-r#NcC;zgb;%mn@5iohh6{gK@CJ-aXglt61ng!I2z=w 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index 6e141d3..b5749d2 100644 --- a/python/examples/indydcp3_example.ipynb +++ b/python/examples/indydcp3_example.ipynb @@ -32,7 +32,7 @@ " sys.path.append(\"../../python\")\n", " from neuromeka import IndyDCP3\n", "\n", - "step_ip = \"192.168.1.24\"\n", + "step_ip = \"192.168.1.9\"\n", "indy = IndyDCP3(step_ip)" ] }, @@ -702,21 +702,10 @@ }, { "cell_type": "code", - "execution_count": 28, + "execution_count": null, "id": "e992e37d", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "{'code': '0', 'msg': ''}" - ] - }, - "execution_count": 28, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "jtarget_0 = [0,0,0,0,0,0]\n", "indy.movej(jtarget = jtarget_0, blending_type=1)\n", @@ -1748,11 +1737,123 @@ "source": [ "indy.get_custom_control_mode()" ] + }, + { + "cell_type": "markdown", + "id": "4b9756db", + "metadata": {}, + "source": [ + "### Conty Functions" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "da83ecd9", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{}" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "indy.ping_from_conty()" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "cd319034", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{'ref_frames': [{'name': 'ref_0',\n", + " 'tpos': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos0': [],\n", + " 'tpos1': [],\n", + " 'tpos2': [],\n", + " 'jpos0': [],\n", + " 'jpos1': [],\n", + " 'jpos2': []},\n", + " {'name': 'ref_1',\n", + " 'tpos': [0.01, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}],\n", + " 'default_name': 'ref_0',\n", + " 'msg': ''}" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "indy.load_reference_frame()" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "f9e13290", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{'msg': ''}" + ] + }, + "execution_count": 4, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "frames = [\n", + " {\n", + " 'name': 'ref_0',\n", + " 'tpos': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos0': [],\n", + " 'tpos1': [],\n", + " 'tpos2': [],\n", + " 'jpos0': [],\n", + " 'jpos1': [],\n", + " 'jpos2': []\n", + " },\n", + " {\n", + " 'name': 'ref_1',\n", + " 'tpos': [0.02, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'tpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n", + " 'jpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", + " }\n", + " ]\n", + "default_name = 'ref_0'\n", + "\n", + "indy.save_reference_frame(frames, default_name)" + ] } ], "metadata": { "kernelspec": { - "display_name": "Python 3 (ipykernel)", + "display_name": ".venv", "language": "python", "name": "python3" }, diff --git a/python/neuromeka.egg-info/PKG-INFO b/python/neuromeka.egg-info/PKG-INFO index 656464c..8f08e47 100644 --- a/python/neuromeka.egg-info/PKG-INFO +++ b/python/neuromeka.egg-info/PKG-INFO @@ -1,6 +1,6 @@ Metadata-Version: 2.1 Name: neuromeka -Version: 3.3.0.1 +Version: 3.3.0.2 Summary: Neuromeka client protocols for IndyDCP3, IndyEye, Moby, Ecat, and Motor Home-page: https://github.com/neuromeka-robotics/neuromeka-package Author: Neuromeka @@ -17,25 +17,23 @@ Classifier: Programming Language :: Python :: 3.11 Classifier: Programming Language :: Python :: 3.12 Requires-Python: >=3.7 Description-Content-Type: text/markdown -Requires-Dist: grpcio<=1.39.0,>=1.34.1; python_version < "3.8" -Requires-Dist: grpcio-tools<=1.39.0,>=1.34.1; python_version < "3.8" -Requires-Dist: protobuf==3.17.3; python_version < "3.8" -Requires-Dist: requests==2.22.0; python_version < "3.8" -Requires-Dist: Pillow<=9.5.0,>=8.4.0; python_version < "3.8" -Requires-Dist: numpy<=1.21.6,>=1.19.4; python_version < "3.8" -Requires-Dist: pyModbusTCP==0.2.1; python_version < "3.8" -Requires-Dist: netifaces==0.11.0; python_version < "3.8" -Requires-Dist: numpyencoder; python_version < "3.8" -Requires-Dist: grpcio==1.59.0; python_version >= "3.8" -Requires-Dist: grpcio-tools==1.59.0; python_version >= "3.8" -Requires-Dist: protobuf<=4.25.4,>=4.24.4; python_version >= "3.8" -Requires-Dist: requests<=2.32.0,>=2.31.0; python_version >= "3.8" -Requires-Dist: urllib3<=2.2.2,>=2.0.7; python_version >= "3.8" -Requires-Dist: Pillow==9.5.0; python_version >= "3.8" -Requires-Dist: numpy<=1.26.4,>=1.21.6; python_version >= "3.8" -Requires-Dist: pyModbusTCP==0.2.1; python_version >= "3.8" -Requires-Dist: netifaces2; python_version >= "3.8" -Requires-Dist: numpyencoder; python_version >= "3.8" +Requires-Dist: grpcio<=1.39.0,>=1.34.1; python_version < "3.9" +Requires-Dist: grpcio-tools<=1.39.0,>=1.34.1; python_version < "3.9" +Requires-Dist: protobuf==3.17.3; python_version < "3.9" +Requires-Dist: requests==2.22.0; python_version < "3.9" +Requires-Dist: Pillow<=9.5.0,>=8.4.0; python_version < "3.9" +Requires-Dist: numpy<=1.21.6,>=1.19.4; python_version < "3.9" +Requires-Dist: pyModbusTCP==0.2.1; python_version < "3.9" +Requires-Dist: netifaces==0.11.0; python_version < "3.9" +Requires-Dist: grpcio==1.59.0; python_version >= "3.9" +Requires-Dist: grpcio-tools==1.59.0; python_version >= "3.9" +Requires-Dist: protobuf<=4.25.4,>=4.24.4; python_version >= "3.9" +Requires-Dist: requests<=2.32.0,>=2.31.0; python_version >= "3.9" +Requires-Dist: urllib3<=2.2.2,>=2.0.7; python_version >= "3.9" +Requires-Dist: Pillow==9.5.0; python_version >= "3.9" +Requires-Dist: numpy<=1.26.4,>=1.21.6; python_version >= "3.9" +Requires-Dist: pyModbusTCP==0.2.1; python_version >= "3.9" +Requires-Dist: netifaces2; python_version >= "3.9" # Neuromeka Robot API ![PyPI](https://img.shields.io/pypi/v/neuromeka) diff --git a/python/neuromeka.egg-info/SOURCES.txt b/python/neuromeka.egg-info/SOURCES.txt index 41a8941..b50ae9b 100644 --- a/python/neuromeka.egg-info/SOURCES.txt +++ b/python/neuromeka.egg-info/SOURCES.txt @@ -41,6 +41,10 @@ neuromeka/proto/ethercat_pb2.py neuromeka/proto/ethercat_pb2_grpc.py neuromeka/proto/eyetask_pb2.py neuromeka/proto/eyetask_pb2_grpc.py +neuromeka/proto/hri_msgs_pb2.py +neuromeka/proto/hri_msgs_pb2_grpc.py +neuromeka/proto/hri_pb2.py +neuromeka/proto/hri_pb2_grpc.py neuromeka/proto/indyeye_pb2.py neuromeka/proto/indyeye_pb2_grpc.py neuromeka/proto/moby_msgs_pb2.py @@ -51,6 +55,8 @@ neuromeka/proto/rtde_msgs_pb2.py neuromeka/proto/rtde_msgs_pb2_grpc.py neuromeka/proto/rtde_pb2.py neuromeka/proto/rtde_pb2_grpc.py +neuromeka/proto/shared_msgs_pb2.py +neuromeka/proto/shared_msgs_pb2_grpc.py neuromeka/proto_step/__init__.py neuromeka/proto_step/common_msgs_pb2.py neuromeka/proto_step/common_msgs_pb2_grpc.py @@ -74,6 +80,10 @@ neuromeka/proto_step/ethercat_pb2.py neuromeka/proto_step/ethercat_pb2_grpc.py neuromeka/proto_step/eyetask_pb2.py neuromeka/proto_step/eyetask_pb2_grpc.py +neuromeka/proto_step/hri_msgs_pb2.py +neuromeka/proto_step/hri_msgs_pb2_grpc.py +neuromeka/proto_step/hri_pb2.py +neuromeka/proto_step/hri_pb2_grpc.py neuromeka/proto_step/indyeye_pb2.py neuromeka/proto_step/indyeye_pb2_grpc.py neuromeka/proto_step/moby_msgs_pb2.py @@ -83,4 +93,6 @@ neuromeka/proto_step/moby_pb2_grpc.py neuromeka/proto_step/rtde_msgs_pb2.py neuromeka/proto_step/rtde_msgs_pb2_grpc.py neuromeka/proto_step/rtde_pb2.py -neuromeka/proto_step/rtde_pb2_grpc.py \ No newline at end of file +neuromeka/proto_step/rtde_pb2_grpc.py +neuromeka/proto_step/shared_msgs_pb2.py +neuromeka/proto_step/shared_msgs_pb2_grpc.py \ No newline at end of file diff --git a/python/neuromeka.egg-info/requires.txt b/python/neuromeka.egg-info/requires.txt index afdaa33..e1fdde5 100644 --- a/python/neuromeka.egg-info/requires.txt +++ b/python/neuromeka.egg-info/requires.txt @@ -1,5 +1,5 @@ -[:python_version < "3.8"] +[:python_version < "3.9"] grpcio<=1.39.0,>=1.34.1 grpcio-tools<=1.39.0,>=1.34.1 protobuf==3.17.3 @@ -8,9 +8,8 @@ Pillow<=9.5.0,>=8.4.0 numpy<=1.21.6,>=1.19.4 pyModbusTCP==0.2.1 netifaces==0.11.0 -numpyencoder -[:python_version >= "3.8"] +[:python_version >= "3.9"] grpcio==1.59.0 grpcio-tools==1.59.0 protobuf<=4.25.4,>=4.24.4 @@ -20,4 +19,3 @@ Pillow==9.5.0 numpy<=1.26.4,>=1.21.6 pyModbusTCP==0.2.1 netifaces2 -numpyencoder diff --git a/python/neuromeka/__pycache__/__init__.cpython-312.pyc b/python/neuromeka/__pycache__/__init__.cpython-312.pyc index e0341a4d21ec428bdc4b5d298d3c6c8b11ffa5cf..b823fac868159029a8ae2d068883e3d129570817 100644 GIT binary patch delta 20 acmX@ZeukaIH}Z diff --git 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z_yy_$de2)Fz)R_=2MHb_SVh1I)(|{J@HD}*1e*z7Am}96M{t1PD8U;9X9?aTxIl23 z;Huae`3;?ZPw*qbPXr!hQN9Gh1bqqm6GRfk5hM^K6QmJj5M&XIA;={tA)v7|yOUrR zftFw^wPEl?LtsYwy@+5b!E%B>5#NS61+w59>F<+ zj|t8b{13r@2yPL0k=1ns5JnQv_>aZY*${#>f)NCn1a}aOBbY=$F$dSfr&mm_&o3*p z1WhR^o>E^`J-MKyrlhihmD4jd1TzR42pS0%5VRmzybJPcGg$3?bYU66{R9sXJWTL7 z!D@oF1WzDr!O%sPO8JmcWhfvVPfTO*=L(POo}oSo-z9Z*v_YzW-|Io4K1CqELQkjk zl};^%**N}B>wvmsL0|{bwh{eFHNM%XZ8PZdSQp+vg?N~nrOpnR8}_5GJ`sxGI}dRX Gulz6YbL9U3 diff --git a/python/neuromeka/indydcp3.py b/python/neuromeka/indydcp3.py index 0edfded..e742634 100644 --- a/python/neuromeka/indydcp3.py +++ b/python/neuromeka/indydcp3.py @@ -17,7 +17,7 @@ CONFIG_SOCKET_PORT = [20003, 30003] RTDE_SOCKET_PORT = [20004, 30004] CRI_SOCKET_PORT = [20181, 30181] - +CONTY_SOCKET_PORT = [20131, 30131] class IndyDCP3: def __init__(self, robot_ip='127.0.0.1', index=0): @@ -29,13 +29,15 @@ def __init__(self, robot_ip='127.0.0.1', index=0): self.config_channel = grpc.insecure_channel('{}:{}'.format(robot_ip, CONFIG_SOCKET_PORT[index])) self.rtde_channel = grpc.insecure_channel('{}:{}'.format(robot_ip, RTDE_SOCKET_PORT[index])) self.cri_channel = grpc.insecure_channel('{}:{}'.format(robot_ip, CRI_SOCKET_PORT[index])) + self.hri_channel = grpc.insecure_channel('{}:{}'.format(robot_ip, CONTY_SOCKET_PORT[index])) self.control = ControlStub(self.control_channel) self.device = DeviceStub(self.device_channel) self.config = ConfigStub(self.config_channel) self.rtde = RTDataExchangeStub(self.rtde_channel) self.cri = CRIStub(self.cri_channel) - + self.hri = HRIStub(self.hri_channel) + self._joint_waypoint = [] self._task_waypoint = [] @@ -2301,3 +2303,57 @@ def get_io_data(self): including_default_value_fields=True, preserving_proto_field_name=True, use_integers_for_enums=True) + + def ping_from_conty(self): + response = self.control.PingFromConty(common_msgs.Empty()) + return json_format.MessageToDict(response, + including_default_value_fields=True, + preserving_proto_field_name=True, + use_integers_for_enums=True) + + def load_reference_frame(self): + response = self.hri.GetRefFrameList(hri_msgs.GetRefFrameListReq()) + return json_format.MessageToDict(response, + including_default_value_fields=True, + preserving_proto_field_name=True, + use_integers_for_enums=True) + + def save_reference_frame(self, frames, default_name): + """ + frames = [ + { + 'name': 'frame1', + 'tpos': [0.0, 0.0, 0.0, 0.0, 0.0], + 'jpos0': [0.0, 0.0, 0.0, 0.0, 0.0] + }, + { + 'name': 'frame2', + 'tpos': [0.0, 0.0, 0.0, 0.0, 0.0], + 'jpos1': [0.0, 0.0, 0.0, 0.0, 0.0] + } + ] + default_name = "default_frame" + """ + request = hri_msgs.SetRefFrameListReq( + ref_frames=[ + shared_msgs.NamedReferencePosition( + name=frame['name'], + tpos=frame.get('tpos', []), + tpos0=frame.get('tpos0', []), + tpos1=frame.get('tpos1', []), + tpos2=frame.get('tpos2', []), + jpos0=frame.get('jpos0', []), + jpos1=frame.get('jpos1', []), + jpos2=frame.get('jpos2', []) + ) for frame in frames + ], + default_name=default_name + ) + + response = self.hri.SetRefFrameList(request) + return json_format.MessageToDict(response, + including_default_value_fields=True, + preserving_proto_field_name=True, + use_integers_for_enums=True) + + \ No newline at end of file diff --git a/python/neuromeka/proto/__init__.py b/python/neuromeka/proto/__init__.py index 1d17484..9e1e22b 100644 --- a/python/neuromeka/proto/__init__.py +++ b/python/neuromeka/proto/__init__.py @@ -16,6 +16,7 @@ from .rtde_pb2_grpc import * from .moby_pb2_grpc import * from .cri_pb2_grpc import * +from .hri_pb2_grpc import * from . import ethercat_msgs_pb2 as ethercat_msgs from . import common_msgs_pb2 as common_msgs @@ -25,4 +26,5 @@ from . import rtde_msgs_pb2 as rtde_msgs from . import moby_msgs_pb2 as moby_msgs from . import cri_pb2 as cri_msgs - +from . import hri_msgs_pb2 as hri_msgs +from . import shared_msgs_pb2 as shared_msgs diff --git a/python/neuromeka/proto/hri_msgs_pb2.py b/python/neuromeka/proto/hri_msgs_pb2.py new file mode 100644 index 0000000..ad58e76 --- /dev/null +++ b/python/neuromeka/proto/hri_msgs_pb2.py @@ -0,0 +1,32 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hri_msgs.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +import shared_msgs_pb2 as shared__msgs__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0ehri_msgs.proto\x12\x1aIndyFramework.Protobuf.HRI\x1a\x11shared_msgs.proto\"\x14\n\x12GetRefFrameListReq\"\x82\x01\n\x12GetRefFrameListRes\x12I\n\nref_frames\x18\x01 \x03(\x0b\x32\x35.IndyFramework.Protobuf.Shared.NamedReferencePosition\x12\x14\n\x0c\x64\x65\x66\x61ult_name\x18\x02 \x01(\t\x12\x0b\n\x03msg\x18\x64 \x01(\t\"u\n\x12SetRefFrameListReq\x12I\n\nref_frames\x18\x01 \x03(\x0b\x32\x35.IndyFramework.Protobuf.Shared.NamedReferencePosition\x12\x14\n\x0c\x64\x65\x66\x61ult_name\x18\x02 \x01(\t\"!\n\x12SetRefFrameListRes\x12\x0b\n\x03msg\x18\x64 \x01(\tb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hri_msgs_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_GETREFFRAMELISTREQ']._serialized_start=65 + _globals['_GETREFFRAMELISTREQ']._serialized_end=85 + _globals['_GETREFFRAMELISTRES']._serialized_start=88 + _globals['_GETREFFRAMELISTRES']._serialized_end=218 + _globals['_SETREFFRAMELISTREQ']._serialized_start=220 + _globals['_SETREFFRAMELISTREQ']._serialized_end=337 + _globals['_SETREFFRAMELISTRES']._serialized_start=339 + _globals['_SETREFFRAMELISTRES']._serialized_end=372 +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto/hri_msgs_pb2_grpc.py b/python/neuromeka/proto/hri_msgs_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/python/neuromeka/proto/hri_msgs_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/python/neuromeka/proto/hri_pb2.py b/python/neuromeka/proto/hri_pb2.py new file mode 100644 index 0000000..8770262 --- /dev/null +++ b/python/neuromeka/proto/hri_pb2.py @@ -0,0 +1,26 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hri.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +import hri_msgs_pb2 as hri__msgs__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\thri.proto\x12\x1aIndyFramework.Protobuf.HRI\x1a\x0ehri_msgs.proto2\xef\x01\n\x03HRI\x12s\n\x0fGetRefFrameList\x12..IndyFramework.Protobuf.HRI.GetRefFrameListReq\x1a..IndyFramework.Protobuf.HRI.GetRefFrameListRes\"\x00\x12s\n\x0fSetRefFrameList\x12..IndyFramework.Protobuf.HRI.SetRefFrameListReq\x1a..IndyFramework.Protobuf.HRI.SetRefFrameListRes\"\x00\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hri_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_HRI']._serialized_start=58 + _globals['_HRI']._serialized_end=297 +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto/hri_pb2_grpc.py b/python/neuromeka/proto/hri_pb2_grpc.py new file mode 100644 index 0000000..f6cd74d --- /dev/null +++ b/python/neuromeka/proto/hri_pb2_grpc.py @@ -0,0 +1,108 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +import hri_msgs_pb2 as hri__msgs__pb2 + + +class HRIStub(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetRefFrameList = channel.unary_unary( + '/IndyFramework.Protobuf.HRI.HRI/GetRefFrameList', + request_serializer=hri__msgs__pb2.GetRefFrameListReq.SerializeToString, + response_deserializer=hri__msgs__pb2.GetRefFrameListRes.FromString, + ) + self.SetRefFrameList = channel.unary_unary( + '/IndyFramework.Protobuf.HRI.HRI/SetRefFrameList', + request_serializer=hri__msgs__pb2.SetRefFrameListReq.SerializeToString, + response_deserializer=hri__msgs__pb2.SetRefFrameListRes.FromString, + ) + + +class HRIServicer(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + def GetRefFrameList(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetRefFrameList(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_HRIServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetRefFrameList': grpc.unary_unary_rpc_method_handler( + servicer.GetRefFrameList, + request_deserializer=hri__msgs__pb2.GetRefFrameListReq.FromString, + response_serializer=hri__msgs__pb2.GetRefFrameListRes.SerializeToString, + ), + 'SetRefFrameList': grpc.unary_unary_rpc_method_handler( + servicer.SetRefFrameList, + request_deserializer=hri__msgs__pb2.SetRefFrameListReq.FromString, + response_serializer=hri__msgs__pb2.SetRefFrameListRes.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'IndyFramework.Protobuf.HRI.HRI', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class HRI(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + @staticmethod + def GetRefFrameList(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/IndyFramework.Protobuf.HRI.HRI/GetRefFrameList', + hri__msgs__pb2.GetRefFrameListReq.SerializeToString, + hri__msgs__pb2.GetRefFrameListRes.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetRefFrameList(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/IndyFramework.Protobuf.HRI.HRI/SetRefFrameList', + hri__msgs__pb2.SetRefFrameListReq.SerializeToString, + hri__msgs__pb2.SetRefFrameListRes.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/neuromeka/proto/shared_msgs_pb2.py b/python/neuromeka/proto/shared_msgs_pb2.py new file mode 100644 index 0000000..af5d7c5 --- /dev/null +++ b/python/neuromeka/proto/shared_msgs_pb2.py @@ -0,0 +1,25 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: shared_msgs.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x11shared_msgs.proto\x12\x1dIndyFramework.Protobuf.Shared\"\x8e\x01\n\x16NamedReferencePosition\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0c\n\x04tpos\x18\x02 \x03(\x02\x12\r\n\x05tpos0\x18\x03 \x03(\x02\x12\r\n\x05tpos1\x18\x04 \x03(\x02\x12\r\n\x05tpos2\x18\x05 \x03(\x02\x12\r\n\x05jpos0\x18\x06 \x03(\x02\x12\r\n\x05jpos1\x18\x07 \x03(\x02\x12\r\n\x05jpos2\x18\x08 \x03(\x02\x62\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'shared_msgs_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_NAMEDREFERENCEPOSITION']._serialized_start=53 + _globals['_NAMEDREFERENCEPOSITION']._serialized_end=195 +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto/shared_msgs_pb2_grpc.py b/python/neuromeka/proto/shared_msgs_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/python/neuromeka/proto/shared_msgs_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/python/neuromeka/proto_step/__init__.py b/python/neuromeka/proto_step/__init__.py index 2590225..9e1e22b 100644 --- a/python/neuromeka/proto_step/__init__.py +++ b/python/neuromeka/proto_step/__init__.py @@ -16,6 +16,7 @@ from .rtde_pb2_grpc import * from .moby_pb2_grpc import * from .cri_pb2_grpc import * +from .hri_pb2_grpc import * from . import ethercat_msgs_pb2 as ethercat_msgs from . import common_msgs_pb2 as common_msgs @@ -25,3 +26,5 @@ from . import rtde_msgs_pb2 as rtde_msgs from . import moby_msgs_pb2 as moby_msgs from . import cri_pb2 as cri_msgs +from . import hri_msgs_pb2 as hri_msgs +from . import shared_msgs_pb2 as shared_msgs diff --git a/python/neuromeka/proto_step/hri_msgs_pb2.py b/python/neuromeka/proto_step/hri_msgs_pb2.py new file mode 100644 index 0000000..e34b78f --- /dev/null +++ b/python/neuromeka/proto_step/hri_msgs_pb2.py @@ -0,0 +1,208 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hri_msgs.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +import shared_msgs_pb2 as shared__msgs__pb2 + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='hri_msgs.proto', + package='IndyFramework.Protobuf.HRI', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x0ehri_msgs.proto\x12\x1aIndyFramework.Protobuf.HRI\x1a\x11shared_msgs.proto\"\x14\n\x12GetRefFrameListReq\"\x82\x01\n\x12GetRefFrameListRes\x12I\n\nref_frames\x18\x01 \x03(\x0b\x32\x35.IndyFramework.Protobuf.Shared.NamedReferencePosition\x12\x14\n\x0c\x64\x65\x66\x61ult_name\x18\x02 \x01(\t\x12\x0b\n\x03msg\x18\x64 \x01(\t\"u\n\x12SetRefFrameListReq\x12I\n\nref_frames\x18\x01 \x03(\x0b\x32\x35.IndyFramework.Protobuf.Shared.NamedReferencePosition\x12\x14\n\x0c\x64\x65\x66\x61ult_name\x18\x02 \x01(\t\"!\n\x12SetRefFrameListRes\x12\x0b\n\x03msg\x18\x64 \x01(\tb\x06proto3' + , + dependencies=[shared__msgs__pb2.DESCRIPTOR,]) + + + + +_GETREFFRAMELISTREQ = _descriptor.Descriptor( + name='GetRefFrameListReq', + full_name='IndyFramework.Protobuf.HRI.GetRefFrameListReq', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=65, + serialized_end=85, +) + + +_GETREFFRAMELISTRES = _descriptor.Descriptor( + name='GetRefFrameListRes', + full_name='IndyFramework.Protobuf.HRI.GetRefFrameListRes', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='ref_frames', full_name='IndyFramework.Protobuf.HRI.GetRefFrameListRes.ref_frames', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='default_name', full_name='IndyFramework.Protobuf.HRI.GetRefFrameListRes.default_name', index=1, + number=2, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='msg', full_name='IndyFramework.Protobuf.HRI.GetRefFrameListRes.msg', index=2, + number=100, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=88, + serialized_end=218, +) + + +_SETREFFRAMELISTREQ = _descriptor.Descriptor( + name='SetRefFrameListReq', + full_name='IndyFramework.Protobuf.HRI.SetRefFrameListReq', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='ref_frames', full_name='IndyFramework.Protobuf.HRI.SetRefFrameListReq.ref_frames', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='default_name', full_name='IndyFramework.Protobuf.HRI.SetRefFrameListReq.default_name', index=1, + number=2, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=220, + serialized_end=337, +) + + +_SETREFFRAMELISTRES = _descriptor.Descriptor( + name='SetRefFrameListRes', + full_name='IndyFramework.Protobuf.HRI.SetRefFrameListRes', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='msg', full_name='IndyFramework.Protobuf.HRI.SetRefFrameListRes.msg', index=0, + number=100, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=339, + serialized_end=372, +) + +_GETREFFRAMELISTRES.fields_by_name['ref_frames'].message_type = shared__msgs__pb2._NAMEDREFERENCEPOSITION +_SETREFFRAMELISTREQ.fields_by_name['ref_frames'].message_type = shared__msgs__pb2._NAMEDREFERENCEPOSITION +DESCRIPTOR.message_types_by_name['GetRefFrameListReq'] = _GETREFFRAMELISTREQ +DESCRIPTOR.message_types_by_name['GetRefFrameListRes'] = _GETREFFRAMELISTRES +DESCRIPTOR.message_types_by_name['SetRefFrameListReq'] = _SETREFFRAMELISTREQ +DESCRIPTOR.message_types_by_name['SetRefFrameListRes'] = _SETREFFRAMELISTRES +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +GetRefFrameListReq = _reflection.GeneratedProtocolMessageType('GetRefFrameListReq', (_message.Message,), { + 'DESCRIPTOR' : _GETREFFRAMELISTREQ, + '__module__' : 'hri_msgs_pb2' + # @@protoc_insertion_point(class_scope:IndyFramework.Protobuf.HRI.GetRefFrameListReq) + }) +_sym_db.RegisterMessage(GetRefFrameListReq) + +GetRefFrameListRes = _reflection.GeneratedProtocolMessageType('GetRefFrameListRes', (_message.Message,), { + 'DESCRIPTOR' : _GETREFFRAMELISTRES, + '__module__' : 'hri_msgs_pb2' + # @@protoc_insertion_point(class_scope:IndyFramework.Protobuf.HRI.GetRefFrameListRes) + }) +_sym_db.RegisterMessage(GetRefFrameListRes) + +SetRefFrameListReq = _reflection.GeneratedProtocolMessageType('SetRefFrameListReq', (_message.Message,), { + 'DESCRIPTOR' : _SETREFFRAMELISTREQ, + '__module__' : 'hri_msgs_pb2' + # @@protoc_insertion_point(class_scope:IndyFramework.Protobuf.HRI.SetRefFrameListReq) + }) +_sym_db.RegisterMessage(SetRefFrameListReq) + +SetRefFrameListRes = _reflection.GeneratedProtocolMessageType('SetRefFrameListRes', (_message.Message,), { + 'DESCRIPTOR' : _SETREFFRAMELISTRES, + '__module__' : 'hri_msgs_pb2' + # @@protoc_insertion_point(class_scope:IndyFramework.Protobuf.HRI.SetRefFrameListRes) + }) +_sym_db.RegisterMessage(SetRefFrameListRes) + + +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto_step/hri_msgs_pb2_grpc.py b/python/neuromeka/proto_step/hri_msgs_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/python/neuromeka/proto_step/hri_msgs_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/python/neuromeka/proto_step/hri_pb2.py b/python/neuromeka/proto_step/hri_pb2.py new file mode 100644 index 0000000..803fcff --- /dev/null +++ b/python/neuromeka/proto_step/hri_pb2.py @@ -0,0 +1,68 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hri.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +import hri_msgs_pb2 as hri__msgs__pb2 + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='hri.proto', + package='IndyFramework.Protobuf.HRI', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\thri.proto\x12\x1aIndyFramework.Protobuf.HRI\x1a\x0ehri_msgs.proto2\xef\x01\n\x03HRI\x12s\n\x0fGetRefFrameList\x12..IndyFramework.Protobuf.HRI.GetRefFrameListReq\x1a..IndyFramework.Protobuf.HRI.GetRefFrameListRes\"\x00\x12s\n\x0fSetRefFrameList\x12..IndyFramework.Protobuf.HRI.SetRefFrameListReq\x1a..IndyFramework.Protobuf.HRI.SetRefFrameListRes\"\x00\x62\x06proto3' + , + dependencies=[hri__msgs__pb2.DESCRIPTOR,]) + + + +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + + + +_HRI = _descriptor.ServiceDescriptor( + name='HRI', + full_name='IndyFramework.Protobuf.HRI.HRI', + file=DESCRIPTOR, + index=0, + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_start=58, + serialized_end=297, + methods=[ + _descriptor.MethodDescriptor( + name='GetRefFrameList', + full_name='IndyFramework.Protobuf.HRI.HRI.GetRefFrameList', + index=0, + containing_service=None, + input_type=hri__msgs__pb2._GETREFFRAMELISTREQ, + output_type=hri__msgs__pb2._GETREFFRAMELISTRES, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), + _descriptor.MethodDescriptor( + name='SetRefFrameList', + full_name='IndyFramework.Protobuf.HRI.HRI.SetRefFrameList', + index=1, + containing_service=None, + input_type=hri__msgs__pb2._SETREFFRAMELISTREQ, + output_type=hri__msgs__pb2._SETREFFRAMELISTRES, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), +]) +_sym_db.RegisterServiceDescriptor(_HRI) + +DESCRIPTOR.services_by_name['HRI'] = _HRI + +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto_step/hri_pb2_grpc.py b/python/neuromeka/proto_step/hri_pb2_grpc.py new file mode 100644 index 0000000..f6cd74d --- /dev/null +++ b/python/neuromeka/proto_step/hri_pb2_grpc.py @@ -0,0 +1,108 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +import hri_msgs_pb2 as hri__msgs__pb2 + + +class HRIStub(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetRefFrameList = channel.unary_unary( + '/IndyFramework.Protobuf.HRI.HRI/GetRefFrameList', + request_serializer=hri__msgs__pb2.GetRefFrameListReq.SerializeToString, + response_deserializer=hri__msgs__pb2.GetRefFrameListRes.FromString, + ) + self.SetRefFrameList = channel.unary_unary( + '/IndyFramework.Protobuf.HRI.HRI/SetRefFrameList', + request_serializer=hri__msgs__pb2.SetRefFrameListReq.SerializeToString, + response_deserializer=hri__msgs__pb2.SetRefFrameListRes.FromString, + ) + + +class HRIServicer(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + def GetRefFrameList(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetRefFrameList(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_HRIServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetRefFrameList': grpc.unary_unary_rpc_method_handler( + servicer.GetRefFrameList, + request_deserializer=hri__msgs__pb2.GetRefFrameListReq.FromString, + response_serializer=hri__msgs__pb2.GetRefFrameListRes.SerializeToString, + ), + 'SetRefFrameList': grpc.unary_unary_rpc_method_handler( + servicer.SetRefFrameList, + request_deserializer=hri__msgs__pb2.SetRefFrameListReq.FromString, + response_serializer=hri__msgs__pb2.SetRefFrameListRes.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'IndyFramework.Protobuf.HRI.HRI', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class HRI(object): + """---------------------------------------------------------------- // + Conty + ---------------------------------------------------------------- // + """ + + @staticmethod + def GetRefFrameList(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/IndyFramework.Protobuf.HRI.HRI/GetRefFrameList', + hri__msgs__pb2.GetRefFrameListReq.SerializeToString, + hri__msgs__pb2.GetRefFrameListRes.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetRefFrameList(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/IndyFramework.Protobuf.HRI.HRI/SetRefFrameList', + hri__msgs__pb2.SetRefFrameListReq.SerializeToString, + hri__msgs__pb2.SetRefFrameListRes.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/neuromeka/proto_step/shared_msgs_pb2.py b/python/neuromeka/proto_step/shared_msgs_pb2.py new file mode 100644 index 0000000..a5cf6d1 --- /dev/null +++ b/python/neuromeka/proto_step/shared_msgs_pb2.py @@ -0,0 +1,119 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: shared_msgs.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='shared_msgs.proto', + package='IndyFramework.Protobuf.Shared', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x11shared_msgs.proto\x12\x1dIndyFramework.Protobuf.Shared\"\x8e\x01\n\x16NamedReferencePosition\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0c\n\x04tpos\x18\x02 \x03(\x02\x12\r\n\x05tpos0\x18\x03 \x03(\x02\x12\r\n\x05tpos1\x18\x04 \x03(\x02\x12\r\n\x05tpos2\x18\x05 \x03(\x02\x12\r\n\x05jpos0\x18\x06 \x03(\x02\x12\r\n\x05jpos1\x18\x07 \x03(\x02\x12\r\n\x05jpos2\x18\x08 \x03(\x02\x62\x06proto3' +) + + + + +_NAMEDREFERENCEPOSITION = _descriptor.Descriptor( + name='NamedReferencePosition', + full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='name', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.name', index=0, + number=1, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='tpos', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.tpos', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='tpos0', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.tpos0', index=2, + number=3, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='tpos1', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.tpos1', index=3, + number=4, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='tpos2', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.tpos2', index=4, + number=5, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='jpos0', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.jpos0', index=5, + number=6, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='jpos1', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.jpos1', index=6, + number=7, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='jpos2', full_name='IndyFramework.Protobuf.Shared.NamedReferencePosition.jpos2', index=7, + number=8, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=53, + serialized_end=195, +) + +DESCRIPTOR.message_types_by_name['NamedReferencePosition'] = _NAMEDREFERENCEPOSITION +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +NamedReferencePosition = _reflection.GeneratedProtocolMessageType('NamedReferencePosition', (_message.Message,), { + 'DESCRIPTOR' : _NAMEDREFERENCEPOSITION, + '__module__' : 'shared_msgs_pb2' + # @@protoc_insertion_point(class_scope:IndyFramework.Protobuf.Shared.NamedReferencePosition) + }) +_sym_db.RegisterMessage(NamedReferencePosition) + + +# @@protoc_insertion_point(module_scope) diff --git a/python/neuromeka/proto_step/shared_msgs_pb2_grpc.py b/python/neuromeka/proto_step/shared_msgs_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/python/neuromeka/proto_step/shared_msgs_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/python/setup.py b/python/setup.py index 3be9110..5dc3fb3 100644 --- a/python/setup.py +++ b/python/setup.py @@ -16,7 +16,6 @@ "numpy>=1.19.4, <=1.21.6", "pyModbusTCP==0.2.1", "netifaces==0.11.0", - "numpyencoder", ] common_requires = [ "grpcio==1.59.0", @@ -28,12 +27,11 @@ "numpy>=1.21.6, <=1.26.4", "pyModbusTCP==0.2.1", "netifaces2", - "numpyencoder", ] setup( name="neuromeka", - version="3.3.0.1", + version="3.3.0.2", author="Neuromeka", author_email="technical-suuport@neuromeka.com", description="Neuromeka client protocols for IndyDCP3, IndyEye, Moby, Ecat, and Motor", @@ -56,7 +54,7 @@ python_requires=">=3.7", # install_requires=install_requires, extras_require={ - ':python_version < "3.8"': step_requires, - ':python_version >= "3.8"': common_requires, + ':python_version < "3.9"': step_requires, + ':python_version >= "3.9"': common_requires, }, )