feat:add readme.txt

.idea/grpc_client.iml

@@ -2,9 +2,10 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/generated" isTestSource="false" />
       <excludeFolder url="file://$MODULE_DIR$/.venv" />
     </content>
-    <orderEntry type="inheritedJdk" />
+    <orderEntry type="jdk" jdkName="grpc_client" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>

.idea/misc.xml

@@ -3,5 +3,5 @@
   <component name="Black">
     <option name="sdkName" value="Python 3.8 (grpc_client)" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="grpc_client" project-jdk-type="Python SDK" />
 </project>

README.md

@@ -0,0 +1,44 @@
+# grpc_client
+
+## Environment
+
+- Python: 3.9.25
+
+## Setup
+
+```bash
+pip install -r requirements.txt
+```
+
+## Generate gRPC code
+
+From repo root:
+
+```bash
+python scripts/gen_grpc_py.py
+```
+
+This reads `.proto` files under `protos/` and writes Python code to `generated/`.
+
+## Run (module mode)
+
+```bash
+python -m clients.movej_client
+python -m clients.get_joint_state_client
+python -m clients.get_pose_client
+python -m clients.torque_on_client
+python -m clients.torque_off_client
+python -m clients.torque_key_client
+python -m clients.press_client
+python -m clients.save_joint_to_csv
+python -m clients.http_server
+```
+
+## Runtime parameters
+
+- gRPC server address/port: set in `clients/base_client.py` (default `192.168.0.222:50052`).
+- HTTP server host/port: set in `clients/http_server.py` (default `0.0.0.0:8000`).
+- `device_id` defaults to `hc01` in most clients; change in code if needed.
+
+
+

clients/_path_setup.py

@@ -0,0 +1,11 @@
+from pathlib import Path
+import sys
+
+
+def ensure_paths() -> None:
+    root = Path(__file__).resolve().parents[1]
+    generated = root / "generated"
+    for path in (root, generated):
+        path_str = str(path)
+        if path_str not in sys.path:
+            sys.path.insert(0, path_str)

clients/base_client.py

@@ -1,13 +1,14 @@
-import grpc
 import time
-import sys
-from pathlib import Path
-BASE_DIR = Path(__file__).resolve().parent.parent  # 上一级目录
 
-sys.path.append(str(BASE_DIR / "generated"))
+import grpc
-sys.path.append(str(BASE_DIR / "generated" / "cmvr"))
+
-from cmvr.api import humanoid_robot_service_pb2_grpc
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from cmvr.api import dexhand_service_pb2_grpc
+from cmvr.api import humanoid_robot_service_pb2_grpc
+
 
 class RobotClientBase:
     def __init__(self, address="192.168.0.222:50052", timeout=2, retries=1):

clients/cal.py

@@ -1,165 +0,0 @@
-
-import csv
-
-import math
-import sys
-from google.protobuf import timestamp_pb2
-
-sys.path.append("../generated")
-import math
-from typing import List, Dict, Literal
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
-from generated.cmvr.api import common_pb2
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from clients.base_client import RobotClientBase
-
-
-class MoveJClient(RobotClientBase):
-    """Client to send MoveJ commands to the robot"""
-
-    def send(self, joint_list, vel=1.0, acc=0.5, device_id="hc01"):
-        """
-        joint_list: list of dicts, e.g.,
-            [
-                {"joint_name": "L_SHOULDER_P", "rad": 0.0},
-                {"joint_name": "L_SHOULDER_R", "rad": -1.31873},
-                ...
-            ]
-        vel: velocity
-        acc: acceleration
-        device_id: device ID
-        """
-        # Construct JointCmd list
-        cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list]
-
-        # Construct request header
-        header = common_pb2.CommandHeader.Request()
-        header.device_id = device_id
-        ts = timestamp_pb2.Timestamp()
-        ts.GetCurrentTime()
-        header.timestamp.CopyFrom(ts)
-
-        # Construct MoveJ request
-        req = pb.MoveJ.Request(
-            header=header,
-            vel=vel,
-            acc=acc,
-            cmds=cmds
-        )
-
-        # Call RPC
-        try:
-            resp = self.stub.moveJ(req, timeout=10)
-            success = getattr(resp.header, "success", None)
-            error_msg = getattr(resp.header, "error_message", "")
-            timestamp_sec = getattr(resp.header.timestamp, "seconds", 0)
-            print("MoveJ RPC call succeeded")
-            print(f"Success: {success}")
-            print(f"Error message: {error_msg}")
-            print(f"Timestamp: {timestamp_sec}")
-        except Exception as e:
-            print("MoveJ RPC call failed:", e)
-
-    def read_joint_from_csv(self, file_name, row_num):
-        """Read joint data from a CSV file and return joint list for the specified row."""
-        joint_order = [
-            'R_SHOULDER_P', 'R_SHOULDER_R', 'R_SHOULDER_Y',
-            'R_ELBOW_R', 'R_WRIST_P', 'R_WRIST_Y', 'R_WRIST_R'
-        ]
-
-        try:
-            with open(file_name, newline='') as csvfile:
-                reader = csv.reader(csvfile)
-                # Skip header row
-                next(reader)
-                # Read specific row
-                for i, row in enumerate(reader, start=1):
-                    if i == row_num:
-                        # Assign joint values to the list
-                        joint_list = [
-                            {'joint_name': joint_order[j], 'rad': round(float(row[j]) * math.pi / 180, 10)}
-                            for j in range(len(joint_order))
-                        ]
-                        return joint_list
-            print(f"Row {row_num} not found.")
-            return []
-        except Exception as e:
-            print(f"Error reading CSV: {e}")
-            return []
-
-    def apply_joint_offsets(self,
-            joint_list: List[Dict[str, float]],
-            on_missing: Literal["ignore", "error", "warn"] = "ignore",
-    ) -> List[Dict[str, float]]:
-        """
-        将零偏置 joint_zero_offset 叠加到 joint_list 上，按 joint_name 对齐。
-
-        参数：
-            joint_list: [{'joint_name': str, 'rad': float}, ...]  原始指令
-            joint_zero_offset: [{'joint_name': str, 'rad': float}, ...]  零偏置
-            on_missing: 当 joint_list 中出现 zero_offset 里没有的关节名时的处理：
-                - "ignore": 当作偏置为 0（默认）
-                - "warn":   打印警告，再当作 0
-                - "error":  抛出 KeyError
-
-        返回：
-            与 joint_list 顺序一致、已叠加偏置的新列表
-        """
-        # 构造偏置表，并检查是否有重复关节名
-
-        deg_to_rad = math.pi / 180.0
-
-        joint_zero_offset = [
-            {'joint_name': 'R_SHOULDER_P', 'rad': 0},
-            {'joint_name': 'R_SHOULDER_R', 'rad': 0 * deg_to_rad},
-            {'joint_name': 'R_SHOULDER_Y', 'rad': 0.2 * deg_to_rad},
-            {'joint_name': 'R_ELBOW_R', 'rad': 0.2 * deg_to_rad},
-            {'joint_name': 'R_WRIST_P', 'rad': 0.6 * deg_to_rad},
-            {'joint_name': 'R_WRIST_Y', 'rad': 2.5 * deg_to_rad},
-            {'joint_name': 'R_WRIST_R', 'rad': 0},
-        ]
-
-        offset_map: Dict[str, float] = {}
-        for j in joint_zero_offset:
-            name = j["joint_name"]
-            if name in offset_map:
-                raise ValueError(f"Duplicated joint in zero_offset: {name}")
-            offset_map[name] = float(j["rad"])
-
-        joint_cmd: List[Dict[str, float]] = []
-        for j in joint_list:
-            name = j["joint_name"]
-            base = float(j["rad"])
-            if name not in offset_map:
-                if on_missing == "error":
-                    raise KeyError(f"Missing zero offset for joint: {name}")
-                elif on_missing == "warn":
-                    print(f"[apply_joint_offsets] WARN: Missing zero offset for {name}, using 0.0")
-                off = 0.0
-            else:
-                off = offset_map[name]
-
-            joint_cmd.append({"joint_name": name, "rad": base + off})
-        return joint_cmd
-
-
-if __name__ == "__main__":
-    # Initialize client
-    client = MoveJClient()
-
-    # Specify CSV file and row number to read from
-    file_name = 'joint_states.csv'
-    row_num = 2  # Row number you want to read (e.g., 2 for the second row)
-
-    # Read joint data from CSV
-    joint_list = client.read_joint_from_csv(file_name, 8)
-    joint_list = client.apply_joint_offsets(joint_list)
-    print(joint_list)
-
-    if joint_list:
-
-        # Send MoveJ command with the read joint data
-        client.send(joint_list, vel=0.8, acc=0.8)
-
-    # Close client
-    client.close()

clients/get_joint_state_client.py

@@ -1,14 +1,14 @@
-import sys
 import time
 from google.protobuf import timestamp_pb2
-
 import matplotlib.pyplot as plt  # 新增
 
-sys.path.append("../generated")
+from clients._path_setup import ensure_paths
+
+ensure_paths()
 
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
 from clients.base_client import RobotClientBase
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 # 固定关节顺序
 JOINT_ORDER = [
@@ -88,12 +88,11 @@ class GetJointStateClient(RobotClientBase):
         except KeyboardInterrupt:
             print("\nStopped fetching joint states.")
             # 例子：退出时画几个关节的角度 & 速度曲线
-    #         try:
+            try:
-    #             # 你可以根据需要改关节列表
+                # 你可以根据需要改关节列表
-    #             self.plot_pos_and_vel([ "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y",
+                self.plot_pos_and_vel([  "L_SHOULDER_R"])
-    # "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"])
+            except Exception as e:
-    #         except Exception as e:
+                print(f"绘图失败: {e}")
-    #             print(f"绘图失败: {e}")
 
     # ====== 3. 绘制速度和角度（同一张图，两行子图） ======
     def plot_pos_and_vel(self, joint_names):

clients/get_pose_client.py

@@ -1,12 +1,14 @@
-import sys
 import time
+
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
 from clients.base_client import RobotClientBase
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 
 class GetPoseClient(RobotClientBase):

clients/hand_client.py

@@ -1,12 +1,12 @@
-import sys
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-
-from generated.cmvr.api import dexhand_command_pb2 as pb
-from generated.cmvr.api import common_pb2
 from clients.base_client import RobotClientBase
+from cmvr.api import common_pb2
+from cmvr.api import dexhand_command_pb2 as pb
 
 
 handshake = [

clients/http_server.py

@@ -1,5 +1,9 @@
 from __future__ import annotations
 
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 import time
 from threading import Lock
 from fastapi import FastAPI

clients/movej_client.py

@@ -1,18 +1,18 @@
-import sys
+import math
 import time
+from typing import Dict, List, Literal
+
+from clients._path_setup import ensure_paths
+
+ensure_paths()
 
 from google.protobuf import timestamp_pb2
 
-from clients.hand_client import DexHandClient
-
-sys.path.append("../generated")
-
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
-from generated.cmvr.api import common_pb2
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 from clients.base_client import RobotClientBase
-import math
+from clients.hand_client import DexHandClient
-from typing import List, Dict, Literal
+from cmvr.api import common_pb2
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 
 
@@ -212,7 +212,7 @@ head_screen_joint_list = [
 ]
 
 singal_joint_list = [
-{'joint_name': 'R_WRIST_P', 'rad': 0.217252876821},
+{'joint_name': 'L_SHOULDER_R', 'rad': 0},
 ]
 
 hand_touch = [
@@ -263,6 +263,18 @@ hello_r_joint_list = [
 
 
 
+test_joint_list = [
+    # {'joint_name': 'R_SHOULDER_P', 'rad':0},
+    {'joint_name': 'R_SHOULDER_R', 'rad': 0},
+    # {'joint_name': 'R_SHOULDER_Y', 'rad': 0},
+    # {'joint_name': 'R_ELBOW_R', 'rad':0},
+    # {'joint_name': 'R_WRIST_P', 'rad': 0},
+    # {'joint_name': 'R_WRIST_Y', 'rad': 0},
+    # {'joint_name': 'R_WRIST_R', 'rad': 0},
+]
+
+
+
 
 #
 
@@ -363,8 +375,8 @@ if __name__ == "__main__":
     # Initialize client
 
     # action_air(client)
-    action_hello(client)
+    # action_hello(client)
-    # client.send(head_front_joint_list, vel=1.0, acc=1.0)
+    client.send(test_joint_list, vel=1.0, acc=1.0)
     # client.send(go_home_joint_list, vel=3.0, acc=3.0)
     # action_music(client)
 

clients/press_client.py

@@ -1,10 +1,11 @@
-import sys
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-from generated.cmvr.api import hlc_command_pb2 as pb
 from clients.base_client import RobotClientBase
+from cmvr.api import hlc_command_pb2 as pb
 
 
 class TouchClient(RobotClientBase):

clients/save_joint_to_csv.py

@@ -1,13 +1,15 @@
-import sys
 import csv
 import math
+
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
 from clients.base_client import RobotClientBase
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 
 class GetJointStateClient(RobotClientBase):

clients/torque_key_client.py

@@ -1,19 +1,17 @@
-
 import sys
-import tty
 import termios
+import tty
+
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-# sys.path.append("../generated")
+from clients.base_client import RobotClientBase
-sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated")  # 指向 generated
-sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated/cmvr")  # 指向 cmvr 顶层
-
-from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from cmvr.api import humanoid_robot_command_pb2 as pb
 from cmvr.api import common_pb2
-
+from cmvr.api import humanoid_robot_command_pb2 as pb
-
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from base_client import RobotClientBase
 
 
 class TorqueClient(RobotClientBase):

clients/torque_off_client.py

@@ -1,12 +1,13 @@
-import sys
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
-from generated.cmvr.api import common_pb2
 from clients.base_client import RobotClientBase
+from cmvr.api import common_pb2
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 
 class TorqueOffClient(RobotClientBase):

clients/torque_on_client.py

@@ -1,12 +1,13 @@
-import sys
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
 from google.protobuf import timestamp_pb2
 
-sys.path.append("../generated")
-
-from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc
-from generated.cmvr.api import humanoid_robot_command_pb2 as pb
-from generated.cmvr.api import common_pb2
 from clients.base_client import RobotClientBase
+from cmvr.api import common_pb2
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
 
 
 class TorqueOnClient(RobotClientBase):

requirements.txt

@@ -0,0 +1,8 @@
+fastapi==0.124.4
+grpcio==1.76.0
+grpcio-tools==1.76.0
+matplotlib==3.9.4
+protobuf==6.33.2
+pydantic==2.12.5
+requests==2.32.5
+uvicorn==0.38.0

run_client.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 """
-统一启动 gRPC 客户端脚本
+Unified entrypoint for running client scripts.
-自动设置 PYTHONPATH，让 generated 下的 cmvr 包可用
+
-用法：
+Usage:
     python run_client.py get_joint_state_client
     python run_client.py movej_client
 """
@@ -16,20 +16,25 @@ PROJECT_ROOT = os.path.dirname(os.path.abspath(__file__))
 GENERATED_DIR = os.path.join(PROJECT_ROOT, "generated")
 CLIENTS_DIR = os.path.join(PROJECT_ROOT, "clients")
 
-# 添加 generated 到 PYTHONPATH
-sys.path.insert(0, GENERATED_DIR)
-os.environ["PYTHONPATH"] = GENERATED_DIR + os.pathsep + os.environ.get("PYTHONPATH", "")
-
 if len(sys.argv) < 2:
-    print("请指定要运行的客户端脚本名，例如：get_joint_state_client")
+    print("Please provide a client script name, e.g. get_joint_state_client")
     sys.exit(1)
 
 client_name = sys.argv[1]
 client_script = os.path.join(CLIENTS_DIR, f"{client_name}.py")
 
 if not os.path.isfile(client_script):
-    print(f"客户端脚本不存在: {client_script}")
+    print(f"Client script not found: {client_script}")
     sys.exit(1)
 
-# 支持传递额外参数给客户端
+module_name = f"clients.{client_name}"
-subprocess.run([sys.executable, client_script] + sys.argv[2:])
+env = os.environ.copy()
+extra_paths = [PROJECT_ROOT, GENERATED_DIR]
+existing = env.get("PYTHONPATH", "")
+env["PYTHONPATH"] = os.pathsep.join(extra_paths + ([existing] if existing else []))
+
+subprocess.run(
+    [sys.executable, "-m", module_name] + sys.argv[2:],
+    cwd=PROJECT_ROOT,
+    env=env,
+)