hex-device 1.1.6

A Python library for controlling HexDevice robots and devices

Hex Device Python Library

Overview

This library provides a simple interface for communicating with and controlling Hex devices. It uses Protocol Buffers for message serialization and WebSocket for real-time communication. The supported hardware list is as follows:

• [✅] ChassisMaver
• [✅] ChassisMark2
• [✅] ArmArcher
• [✅] HandsHtGp100
• [-] hex_lift

Installation

Install from PyPI (Recommended)

pip install hex_device

Clone the Repository (Development)

git clone --recurse-submodules https://github.com/hexfellow/hex_device_python.git

Prerequisites

• Python 3.8.10 or higher
• Anaconda Distribution (recommended for beginners) - includes Python, NumPy, and commonly used scientific computing packages

Quickstart

Install protoc

We highly recommend you to use protoc-27.1 since we have fully tested it in both x86_64 and arm64 archs.

You can use the binary installation method below to install protoc-27.1.

# For Linux x86_64
wget https://github.com/protocolbuffers/protobuf/releases/download/v27.1/protoc-27.1-linux-x86_64.zip
sudo unzip protoc-27.1-linux-x86_64.zip -d /usr/local
rm protoc-27.1-linux-x86_64.zip
   
# For Linux arm64
wget https://github.com/protocolbuffers/protobuf/releases/download/v27.1/protoc-27.1-linux-aarch_64.zip
sudo unzip protoc-27.1-linux-aarch_64.zip -d /usr/local
rm protoc-27.1-linux-aarch_64.zip
   
# Verify installation
protoc --version  # Should display libprotoc 27.1

Install hex_device

Option 1: Package Installation

To install the library in your Python environment:

python3 -m pip install .

Option 2: Direct Usage (No Installation)

If you prefer to run the library without installing it in your Python environment:

1. Compile Protocol Buffer messages:

   mkdir ./hex_device/generated
   protoc --proto_path=proto-public-api --python_out=hex_device/generated proto-public-api/*.proto
   

2. Install dependencies:

   python3 -m pip install -r requirements.txt
   

3. Add the library path to your script:

   import sys
   sys.path.insert(1, '<your project path>/hex_device_python')
   sys.path.insert(1, '<your project path>/hex_device_python/hex_device/generated')
   

Usage

The detailed function interfaces can be found in our wiki.

For chassis_maver ^{overview ▲}

api = HexDeviceApi(ws_url="ws://<device ip>:8439", control_hz=500)
try:
    first_time = True
    while True:
        if api.is_api_exit():
            print("Public API has exited.")
            break
        else:
            for device in api.device_list:
                if isinstance(device, ChassisMaver):
                    if device.has_new_data():
                        if first_time:
                            first_time = False
                            device.clear_odom_bias()
                        print(device.get_device_summary())
                        print(f"vehicle position: {device.get_vehicle_position()}")
                        device.set_vehicle_speed(0.0, 0.0, 0.0)
        time.sleep(0.004)
except KeyboardInterrupt:
    print("Received Ctrl-C.")
    api.close()
finally:
    print("Resources have been cleaned up.")
exit(0)

For chassis_mark2 ^{overview ▲}

api = HexDeviceApi(ws_url="ws://<device ip>:8439", control_hz=500)
try:
    first_time = True
    while True:
        if api.is_api_exit():
            print("Public API has exited.")
            break
        else:
            for device in api.device_list:
                if isinstance(device, ChassisMark2):
                    if device.has_new_data():
                        if first_time:
                            first_time = False
                            device.clear_odom_bias()

                        print(device.get_device_summary())
                        print(f"vehicle position: {device.get_vehicle_position()}")
                        ## command, Please select one of the following commands.
                        device.set_vehicle_speed(0.0, 0.0, 0.0)
                        # device.motor_command(CommandType.SPEED, [0.4, 0.4])
        time.sleep(0.004)
except KeyboardInterrupt:
    print("Received Ctrl-C.")
    api.close()
finally:
    print("Resources have been cleaned up.")
exit(0)

For arm_archer ^{overview ▲}

A path trajectory example is provided:

python3 tests/archer_traj_test.py  --url <ip>:<8439 or 9439>

A simple usage example is shown below:

api = HexDeviceApi(ws_url="ws://<device ip>:8439", control_hz=250)
try:
    while True:
        if api.is_api_exit():
            print("Public API has exited.")
            break
        else:
            for device in api.device_list:
                if isinstance(device, ArmArcher):
                    print(device.get_device_summary())
                    print(f"motor position: {device.get_motor_positions()}")
                    device.motor_command(
                        CommandType.SPEED,
                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
        time.sleep(0.004)
except KeyboardInterrupt:
    print("Received Ctrl-C.")
    api.close()
finally:
    print("Resources have been cleaned up.")
exit(0)

For hands ^{overview ▲}

api = HexDeviceApi(ws_url="ws://<device ip>:8439", control_hz=250)
hands = None
while hands == None:
    hands = api.find_optional_device('hand_status')
    time.sleep(0.1)
try:
    while True:
        if api.is_api_exit():
            print("Public API has exited.")
            break
        else:
            if hands:
                if hands.has_new_data():
                    print(device.get_device_summary())
                    print(f"motor position: {device.get_motor_positions()}")
                    device.motor_command(
                        CommandType.POSITION,
                        [0.0])
        time.sleep(0.004)
except KeyboardInterrupt:
    print("Received Ctrl-C.")
    api.close()
finally:
    print("Resources have been cleaned up.")
exit(0)

For hex_lift ^{overview ▲}

Coming soon...

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