45 lines
893 B
Markdown
45 lines
893 B
Markdown
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# grpc_client
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## Environment
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- Python: 3.9.25
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## Setup
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```bash
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pip install -r requirements.txt
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```
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## Generate gRPC code
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From repo root:
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```bash
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python scripts/gen_grpc_py.py
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```
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This reads `.proto` files under `protos/` and writes Python code to `generated/`.
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## Run (module mode)
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```bash
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python -m clients.movej_client
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python -m clients.get_joint_state_client
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python -m clients.get_pose_client
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python -m clients.torque_on_client
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python -m clients.torque_off_client
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python -m clients.torque_key_client
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python -m clients.press_client
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python -m clients.save_joint_to_csv
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python -m clients.http_server
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```
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## Runtime parameters
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- gRPC server address/port: set in `clients/base_client.py` (default `192.168.0.222:50052`).
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- HTTP server host/port: set in `clients/http_server.py` (default `0.0.0.0:8000`).
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- `device_id` defaults to `hc01` in most clients; change in code if needed.
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