agmen (Python)
Agmen es un framework de código abierto para robótica, IA e IoT. Su núcleo (en C++) es el "sistema nervioso" del robot: mueve mensajes entre nodos de forma rápida, confiable y con marca de tiempo.
Desde la 0.9, este paquete trae el mismo núcleo de C++ ya compilado para
Windows, Linux x64, Linux ARM64 (Raspberry Pi) y macOS (Intel y Apple
Silicon), con Python 3.11 o más nuevo: pip no compila nada. En otras
computadoras se instala la versión de Python puro, que funciona igual pero más
lenta. agmen --version dice cuál usas.
pip install agmen # pip install agmen[numpy] para arreglos como NumPy
from dataclasses import dataclass
import agmen
from agmen import wire
@dataclass
class MotorCommand(wire.Message):
SCHEMA = "MotorCommand{f32 left;f32 right}" # el mismo esquema que en C++
left: float
right: float
pub = agmen.Publisher(MotorCommand, "/cmd") # un topic: sin IPs ni puertos
pub.publish(MotorCommand(0.5, 0.5))
sub = agmen.Subscriber(MotorCommand, "/cmd") # cuantos quieras
sample = sub.receive(timeout=0.05) # None si no llegó nada
Con topics, los nodos se encuentran solos con el agmen hub de la máquina
(agmen run lo arranca). También puedes usar una dirección fija
("127.0.0.1:7500"), sin hub.
Basta con el esquema: el layout en bytes (igual que un struct de C) sale solo.
También instala el comando agmen, que levanta todo tu robot con un solo
comando y abre un panel web para controlarlo:
agmen run robot.toml # todos los nodos + panel web (nodos, logs, gráficas, inspector, manejar)
agmen run robot.toml --red # el panel en tu red local (celular), con clave
agmen web # solo el panel: grafica cualquier mensaje que le llegue
agmen echo 127.0.0.1:7400 # muestra cualquier mensaje en la terminal
agmen topic list # qué topics hay, de qué tipo, quién manda y quién escucha
agmen topic echo /imu # los mensajes de un topic, sin quitarle el puerto a nadie
Tus mensajes también pueden vivir en un archivo .agmen, el mismo que usa
C++ para generar su código:
msgs = agmen.load("arca9.agmen")
pub = agmen.Publisher(msgs.Articulaciones, "/arca9/q")
pub.publish(msgs.Articulaciones(q=[90.0] * 12, modo=msgs.Modo.TROTAR))
Con agmen.load("arca9.agmen", numpy=True), los arreglos llegan como
numpy.ndarray de solo lectura, sin copiar.
agmen gen arca9.agmen --python . escribe el .py (para el autocompletado
de tu editor) y agmen gen arca9.agmen muestra cada tipo con su esquema.
El panel también acepta a Foxglove (solo lectura):
conéctate a ws://127.0.0.1:8080/ws.
⚠ Versión 0.x: la API todavía va a cambiar entre versiones menores.
Documentación, tutorial y código: https://github.com/flkochu/Agmen
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Release files for agmen 0.9.0
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