70 lines
1.5 KiB
Markdown
70 lines
1.5 KiB
Markdown
# 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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python -m pip install -r requirements.txt
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```
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Use the same Python interpreter you run the clients with. For example:
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```bash
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C:\Users\lgv\miniconda3\envs\grpc_client\python.exe -m pip install -r requirements.txt
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```
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## Troubleshooting
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If you encounter the following error:
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```text
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qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in ".../site-packages/cv2/qt/plugins"
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```
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run:
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```bash
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pip uninstall opencv-python opencv-contrib-python -y
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pip install opencv-python-headless
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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.save_joint_to_csv
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python -m clients.http_server
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python -m clients.hlc_client
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```
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## UI (PyQt)
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```bash
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python -m ui.app
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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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- Arm `device_id` defaults to `right_arm`. Use `left_arm` when controlling the left arm.
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- UI parameters (host/port/device_id/interval) are set in the PyQt window and passed to the runner.
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