Faster kinematics

.github/workflows/tests.yml

@@ -0,0 +1,70 @@
+name: tests
+
+on:
+  push:
+    paths:
+      - '**'
+  pull_request:
+    paths:
+      - '**'
+
+jobs:
+  lint:
+    name: Lint (ruff + mypy)
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+          cache: pip
+          cache-dependency-path: pyproject.toml
+      - name: Install dev dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -e ".[dev]"
+      - name: Ruff (lint)
+        run: ruff check parol6
+      - name: Ruff (format check)
+        run: ruff format --check parol6
+      - name: MyPy
+        run: mypy parol6
+  test:
+    name: ${{ matrix.os }} / Python ${{ matrix.python-version }}
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 30
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        python-version: ['3.10', '3.11']
+
+    steps:
+      - name: Checkout repository (with submodules)
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+          cache-dependency-path: pyproject.toml
+
+      - name: Upgrade pip and install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -e ".[dev]" pytest-timeout
+
+      - name: Show environment
+        run: |
+          python -V
+          pip list
+
+      - name: Run tests (skip hardware)
+        env:
+          PYTHONUNBUFFERED: '1'
+          PYTHONUTF8: '1'
+        run: |
+          pytest

.gitignore

@@ -124,4 +124,4 @@ cython_debug/
 # VS Code
 .vscode/
 
-serial_port.txt
+serial_port.txt

.pre-commit-config.yaml

@@ -0,0 +1,33 @@
+default_language_version:
+  python: python3.11
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-merge-conflict
+      - id: check-added-large-files
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.9
+    hooks:
+      - id: ruff
+        args: ["--fix"]
+      - id: ruff-format
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.11.2
+    hooks:
+      - id: mypy
+        name: mypy (parol6)
+        files: ^parol6/
+        pass_filenames: false
+        args: ["parol6"]
+        stages: [commit, push]
+        additional_dependencies:
+          - numpy==1.26.4
+          - spatialmath-python==1.1.14
+          - scipy==1.11.4

examples/async_client_quickstart.py

@@ -0,0 +1,56 @@
+"""
+Async client quickstart for PAROL6.
+- Starts a local headless controller at 127.0.0.1:5001
+- Enables simulator mode for safety
+- Shows basic queries and status streaming
+
+Run from the repository root:
+    python external/PAROL6-python-API/examples/async_client_quickstart.py
+"""
+
+import asyncio
+from parol6 import AsyncRobotClient
+from parol6.client.manager import managed_server
+
+HOST = "127.0.0.1"
+PORT = 5001
+
+
+async def run_client() -> int:
+    async with AsyncRobotClient(host=HOST, port=PORT, timeout=2.0) as client:
+        ready = await client.wait_for_server_ready(timeout=5.0)
+        print(f"server ready: {ready}")
+        if not ready:
+            return 1
+
+        # Safety: enable simulator for this demo
+        ok = await client.simulator_on()
+        print(f"simulator_on: {ok}")
+
+        print("ping:", await client.ping())
+        pose_xyz = await client.get_pose_xyz()
+        print("pose xyz:", pose_xyz)
+
+        # Consume one status broadcast
+        print("one status frame speeds:")
+        async for status in client.status_stream():
+            print(status.get("speeds"))
+            break
+
+        # Small relative TRF move (safe in simulator)
+        # Move +5mm in Z over 1.0s
+        moved = await client.move_cartesian_rel_trf([0, 0, 5, 0, 0, 0], duration=1.0)
+        print("move_cartesian_rel_trf ->", moved)
+
+        return 0
+
+
+def main() -> None:
+    # Auto-start and stop controller for this example
+    with managed_server(host=HOST, port=PORT, normalize_logs=True):
+        code = asyncio.run(run_client())
+    raise SystemExit(code)
+
+
+if __name__ == "__main__":
+    main()

examples/manage_server_demo.py

@@ -0,0 +1,48 @@
+"""
+Manage server lifecycle demonstration for PAROL6.
+- Starts a local headless controller at 127.0.0.1:5001
+- Waits until ready, then connects with RobotClient
+- Toggles simulator ON for a safe demo motion, then OFF
+- Stops the controller on exit
+
+Run from the repository root:
+    python external/PAROL6-python-API/examples/manage_server_demo.py
+"""
+
+from parol6 import manage_server, RobotClient
+
+HOST = "127.0.0.1"
+PORT = 5001
+
+
+def main() -> None:
+    mgr = manage_server(host=HOST, port=PORT, normalize_logs=True)
+    try:
+        with RobotClient(host=HOST, port=PORT, timeout=2.0) as client:
+            ready = client.wait_for_server_ready(timeout=5.0)
+            print(f"server ready: {ready}")
+            if not ready:
+                raise SystemExit(1)
+
+            print("ping:", client.ping())
+
+            # Enable simulator for a safe motion
+            sim_on = client.simulator_on()
+            print("simulator_on:", sim_on)
+
+            if sim_on:
+                # Small relative TRF move: +3mm in Z over 0.8s
+                moved = client.move_cartesian_rel_trf([0, 0, 3, 0, 0, 0], duration=0.8)
+                print("move_cartesian_rel_trf ->", moved)
+
+            # Demonstrate toggling simulator off again (no motion follows)
+            sim_off = client.simulator_off()
+            print("simulator_off:", sim_off)
+
+            raise SystemExit(0)
+    finally:
+        mgr.stop_controller()
+
+
+if __name__ == "__main__":
+    main()

examples/sync_client_quickstart.py

@@ -0,0 +1,29 @@
+"""
+Sync client quickstart for PAROL6.
+- Assumes a controller is already running at 127.0.0.1:5001
+- Does not enable simulator in this example
+- Performs ping and basic queries
+
+Run from the repository root:
+    python external/PAROL6-python-API/examples/sync_client_quickstart.py
+"""
+
+from parol6 import RobotClient
+
+HOST = "127.0.0.1"
+PORT = 5001
+
+
+def main() -> None:
+    with RobotClient(host=HOST, port=PORT, timeout=2.0) as client:
+        ready = client.wait_for_server_ready(timeout=3.0)
+        print(f"server ready: {ready}")
+        print("ping:", client.ping())
+        print("pose xyz:", client.get_pose_xyz())
+        print("angles:", client.get_angles())
+        code = 0 if ready else 1
+    raise SystemExit(code)
+
+
+if __name__ == "__main__":
+    main()