Robot client with server management and async

commands/basic_commands.py

@@ -6,7 +6,6 @@
 import logging
 import numpy as np
 import PAROL6_ROBOT
-from .ik_helpers import CommandValue
 
 logger = logging.getLogger(__name__)
 
@@ -121,7 +120,7 @@ def __init__(self, joint, speed_percentage=None, duration=None, distance_deg=Non
 
     def prepare_for_execution(self, current_position_in):
         """Pre-computes speeds and target positions using live data."""
-        logger.debug(f"  -> Preparing for Jog command...")
+        logger.debug("  -> Preparing for Jog command...")
 
         # Joint direction and index mapping
         self.direction = 1 if 0 <= self.joint <= 5 else -1
@@ -261,7 +260,7 @@ def __init__(self, joints, speed_percentages, duration):
 
     def prepare_for_execution(self, current_position_in):
         """Pre-computes the speeds for each joint."""
-        logger.debug(f"  -> Preparing for MultiJog command...")
+        logger.debug("  -> Preparing for MultiJog command...")
 
         for i, joint in enumerate(self.joints):
             # Index mapping: 0-5 positive, 6-11 negative direction

commands/gripper_commands.py

@@ -127,7 +127,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out,
                 # Check for completion
                 current_position = Gripper_data_in[1]
                 if abs(current_position - self.target_position) <= 5:
-                    logger.info(f"  -> Gripper move complete.")
+                    logger.info("  -> Gripper move complete.")
                     self.is_finished = True
                     # Set command back to idle
                     bitfield = [1, 0, not InOut_in[4], 1, 0, 0, 0, 0]
@@ -136,12 +136,12 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out,
                     return True
 
                 if (object_detection == 1) and (self.target_position > current_position):
-                    logger.info(f"  -> Gripper move holding position due to object detection when closing.")
+                    logger.info("  -> Gripper move holding position due to object detection when closing.")
                     self.is_finished = True
                     return True
 
                 if (object_detection == 2) and (self.target_position < current_position):
-                    logger.info(f"  -> Gripper move holding position due to object detection when opening.")
+                    logger.info("  -> Gripper move holding position due to object detection when opening.")
                     self.is_finished = True
                     return True
 

commands/ik_helpers.py

@@ -6,7 +6,6 @@
 import numpy as np
 import logging
 from collections import namedtuple
-from typing import Optional
 from roboticstoolbox import DHRobot
 from spatialmath import SE3
 from spatialmath.base import trinterp

commands/joint_commands.py

@@ -114,7 +114,7 @@ def prepare_for_execution(self, current_position_in):
 
             except Exception as e:
                 logger.error(f"  -> VALIDATION FAILED: Could not calculate velocity-based trajectory. Error: {e}")
-                logger.info(f"  -> Please check Joint_min/max_speed and Joint_min/max_acc values in PAROL6_ROBOT.py.")
+                logger.info("  -> Please check Joint_min/max_speed and Joint_min/max_acc values in PAROL6_ROBOT.py.")
                 self.is_valid = False
                 return
 

commands/smooth_commands.py

@@ -8,16 +8,13 @@
 import PAROL6_ROBOT
 from spatialmath import SE3
 from smooth_motion import (
-    CircularMotion, SplineMotion, MotionBlender,
-    HelixMotion, AdvancedMotionBlender, WaypointTrajectoryPlanner
+    CircularMotion, SplineMotion, HelixMotion, WaypointTrajectoryPlanner
 )
 from .ik_helpers import solve_ik_with_adaptive_tol_subdivision
+from .cartesian_commands import MovePoseCommand
 
 logger = logging.getLogger(__name__)
 
-# Import MovePoseCommand for transition commands
-from .cartesian_commands import MovePoseCommand
-
 def transform_command_params_to_wrf(command_type: str, params: dict, frame: str, current_position_in) -> dict:
     """
     Transform command parameters from TRF to WRF.
@@ -313,7 +310,7 @@ def prepare_for_execution(self, current_position_in):
             if self.transition_command:
                 self.transition_command.prepare_for_execution(current_position_in)
                 if not self.transition_command.is_valid:
-                    logger.error(f"  -> ERROR: Cannot reach specified start position")
+                    logger.error("  -> ERROR: Cannot reach specified start position")
                     self.is_valid = False
                     self.error_state = True
                     self.error_message = "Cannot reach specified start position"
@@ -342,7 +339,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out, **kwargs):
             )
 
             if is_done:
-                logger.info(f"  -> Transition complete")
+                logger.info("  -> Transition complete")
                 self.transition_complete = True
             return False
 
@@ -370,7 +367,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out, **kwargs):
             )
 
             if not ik_result.success:
-                logger.error(f"  -> ERROR: Cannot reach first trajectory point")
+                logger.error("  -> ERROR: Cannot reach first trajectory point")
                 self.is_finished = True
                 self.error_state = True
                 self.error_message = "Cannot reach trajectory start"
@@ -884,7 +881,7 @@ def prepare_for_execution(self, current_position_in):
     def generate_main_trajectory(self, effective_start_pose):
         """Generate helix with entry trajectory if needed and proper trajectory profile."""
         # Import here to avoid circular dependencies
-        from smooth_motion import HelixMotion, CircularMotion
+        from smooth_motion import CircularMotion
         helix_gen = HelixMotion()
 
         # Get helix axis (default Z for WRF, transformed for TRF)
@@ -1024,7 +1021,7 @@ def generate_main_trajectory(self, effective_start_pose):
         else:
             # Replace first waypoint with actual start to ensure continuity
             modified_waypoints = [effective_start_pose] + self.waypoints[1:]
-            logger.info(f"    Replaced first waypoint with actual start position")
+            logger.info("    Replaced first waypoint with actual start position")
 
         timestamps = np.linspace(0, self.duration, len(modified_waypoints))
 
@@ -1291,7 +1288,6 @@ def prepare_for_execution(self, current_position_in):
 
     def generate_main_trajectory(self, effective_start_pose):
         """Generate waypoint trajectory with corner cutting."""
-        from smooth_motion import WaypointTrajectoryPlanner
 
         # Ensure first waypoint matches effective start pose
         first_wp_error = np.linalg.norm(

gcode/commands.py

@@ -6,7 +6,7 @@
 """
 
 import numpy as np
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, Optional
 import sys
 import os
 

gcode/coordinates.py

@@ -7,8 +7,7 @@
 
 import json
 import os
-import numpy as np
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, List, Optional
 
 
 class WorkCoordinateSystem:

gcode/interpreter.py

@@ -7,11 +7,11 @@
 
 import os
 import numpy as np
-from typing import List, Dict, Optional, Union, Tuple
-from .parser import GcodeParser, GcodeToken
+from typing import List, Dict, Optional, Union
+from .parser import GcodeParser
 from .state import GcodeState
 from .coordinates import WorkCoordinateSystem
-from .commands import create_command_from_token, GcodeCommand
+from .commands import create_command_from_token
 
 
 class GcodeInterpreter:

gcode/state.py

@@ -11,8 +11,8 @@
 
 import json
 import os
-from typing import Dict, Optional, Tuple
-from dataclasses import dataclass, field, asdict
+from typing import Dict, Optional
+from dataclasses import dataclass, field
 
 
 @dataclass

gcode/utils.py

@@ -6,7 +6,7 @@
 
 import math
 import numpy as np
-from typing import Dict, List, Tuple, Optional
+from typing import Dict, List
 
 
 def feed_rate_to_duration(distance: float, feed_rate: float) -> float:

parol6/__init__.py

@@ -0,0 +1,25 @@
+"""
+PAROL6 Python Package
+
+A unified library for controlling PAROL6 robot arms with async-first UDP client,
+optional sync wrapper, and server management capabilities.
+
+Key components:
+- AsyncRobotClient: Async UDP client for robot operations
+- RobotClient: Sync wrapper with automatic event loop handling
+- ServerManager: Manages headless controller process lifecycle
+- ensure_server: Convenience function to auto-start controller when needed
+"""
+
+from ._version import __version__
+from .client.async_client import AsyncRobotClient
+from .client.sync_client import RobotClient
+from .server.manager import ServerManager, ensure_server
+
+__all__ = [
+    "__version__",
+    "AsyncRobotClient", 
+    "RobotClient",
+    "ServerManager",
+    "ensure_server"
+]

parol6/_version.py

@@ -0,0 +1,3 @@
+"""Version information for parol6 package."""
+
+__version__ = "0.1.0"

parol6/cli/__init__.py

@@ -0,0 +1 @@
+"""Command-line interface modules."""

parol6/cli/server.py

@@ -0,0 +1,16 @@
+"""
+CLI entry point for parol6-server command.
+
+This module provides the command-line interface for starting the PAROL6 headless controller.
+"""
+
+from parol6.server.headless_commander import main
+
+
+def main_entry():
+    """Entry point for the parol6-server command."""
+    main()
+
+
+if __name__ == "__main__":
+    main_entry()

parol6/client/__init__.py

@@ -0,0 +1 @@
+"""Client modules for robot communication."""