neuromeka 3.3.0.3

Neuromeka client protocols for IndyDCP3, IndyEye, Moby, Ecat, and Motor

Neuromeka Robot API

This package provides client protocols for users to interact with Neuromeka's robot products, including Indy, Moby, Ecat, and Motor.

• Website: http://www.neuromeka.com
• Source code: https://github.com/neuromeka-robotics/neuromeka-package
• PyPI package: https://pypi.org/project/neuromeka/
• Documents: https://docs.neuromeka.com

Installation

The current default grpc version for both python and c++ is 1.59.

Python

You can install the package from PyPI:

Install dependencies if missing:

sudo apt-get install libjpeg-dev zlib1g-dev 

On python < 3.12:

sudo apt install -y python<your_version>-distutils 

or simply

sudo apt install -y python3-distutils 

Install Neuromeka package

pip3 install neuromeka

C++ (On Linux)

1. Install GRPC

This guide is summarized from grpc website. For more information, please visit grpc.io.

Choose a directory to hold locally installed packages. This page assumes that the environment variable MY_INSTALL_DIR holds this directory path. For example:

export MY_INSTALL_DIR=$HOME/.local

Ensure that the directory exists:

mkdir -p $MY_INSTALL_DIR

Add the local bin folder to your path variable, for example:

export PATH="$MY_INSTALL_DIR/bin:$PATH"

Install cmake
You need version 3.13 or later of cmake. Install it by following these instructions:

sudo apt install -y cmake

Check the version of cmake:

cmake --version

On Linux, the system-wide CMake version might be outdated. To install a more recent version in your local installation directory, use:

wget -q -O cmake-linux.sh https://github.com/Kitware/CMake/releases/download/v3.19.6/cmake-3.19.6-Linux-x86_64.sh
sh cmake-linux.sh -- --skip-license --prefix=$MY_INSTALL_DIR
rm cmake-linux.sh

Install other required tools
Install the basic tools required to build gRPC:

$ sudo apt install -y build-essential autoconf libtool pkg-config

Clone the grpc repo and its submodules:

$ git clone --recurse-submodules -b v1.59.0 --depth 1 --shallow-submodules https://github.com/grpc/grpc

Build and Install gRPC and Protocol Buffers

gRPC applications often use Protocol Buffers for service definitions and data serialization, as in the example code that follows. To build and locally install gRPC and Protocol Buffers, run:

cd grpc
mkdir -p cmake/build
pushd cmake/build
cmake -DgRPC_INSTALL=ON \
      -DgRPC_BUILD_TESTS=OFF \
      -DCMAKE_INSTALL_PREFIX=$MY_INSTALL_DIR \
      ../..
make -j 4
make install
popd

Important It is strongly recommended to install gRPC locally with a properly set CMAKE_INSTALL_PREFIX, as there is no simple way to uninstall gRPC after a global installation.

2. Download and Build example

Clone the Example Repository

git clone https://github.com/neuromeka-robotics/neuromeka-package.git

Navigate to the C++ Folder

cd neuromeka-package/cpp/

Create and Enter the Build Directory

mkdir build && cd build

Run CMake Configuration and Build the Example

cmake -DBUILD_PROTO=OFF ..
cmake --build .

If you need to rebuild the .proto files, set -DBUILD_PROTO=ON. The build_proto executable file will be generated. After running this file, the generated proto files will be located in the proto/cpp_generated folder.

C++ (On Windows)

It is recommended to use Visual Studio Code for this setup.

1. Setup your environment

Install Visual Studio Code

• Install following extensions: C/C++, C/C++ Extension Pack and CMake Tools.

Install vs_BuildTools

• In BuildTools option, please choose Desktop Development with C++ and Visual Studio extension development.

2. Install GRPC

When you are all set, please open Developer Command Prompt and run the following commands:

git clone -b v1.59.0 https://github.com/grpc/grpc
cd grpc
git submodule update --init

Create build folder

cd cmake
mkdir build
cd build

Configure and build using Cmake

cmake -G "Visual Studio 17 2022" -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 -DBUILD_SHARED_LIBS=OFF -DABSL_PROPAGATE_CXX_STD=ON -DgRPC_INSTALL=ON -DgRPC_BUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX=..\..\..\install ../..

You can set you install path with "-DCMAKE_INSTALL_PREFIX=<your path>

Build and install grpc

cmake --build . --config Release --target install

3. Download and Build example

Clone the Example Repository

git clone https://github.com/neuromeka-robotics/neuromeka-package.git

Open Visual Studio Code and open neuromeka-package/cpp/ folder Config your build with settings.json in .vscode folder. If you need to rebuild the .proto files, set -DBUILD_PROTO=ON. The build_proto executable file will be generated.

Then, modify the CMakeList.txt. Change following lines to point to your grpc installation directory.

set(absl_DIR "E:/Example/install/lib/cmake/absl")
set(utf8_range_DIR "E:/Example/install/lib/cmake/utf8_range")
set(protobuf_DIR "E:/Example/install/cmake")
set(gRPC_DIR "E:/Example/install/lib/cmake/grpc")

"Press Ctrl+Shift+P or go to View -> Command Palette to open the Command Palette, and choose the following commands:

• CMake: Scan for kits: To scan for compilers on your computer.
• CMake: Select a kit: To select a specific compiler (e.g., Visual Studio Build Tools 2022 Release - amd64).

When you are done, press the Build button at the bottom left.

Usage

Python

Python neuromeka package contatins the following client classes:

• IndyDCP3 in indydcp3.py
• IndyEye in eye.py
• EtherCAT in ecat.py
• Moby in moby.py

To use a client class, simply import it and create an instance:

from neuromeka import IndyDCP3, IndyEye, EtherCAT, MobyClient

moby = MobyClient("192.168.214.20")
indy = IndyDCP3("192.168.0.11")
eye = IndyEye("192.168.0.12")
ecat = EtherCAT("192.168.0.11")

C++

C++ neuromeka package contains the following client class:

• IndyDCP3 in indydcp3.cpp

To use a client class, please refer to example_indydcp3.cpp

Dependencies

Python

This package requires the following dependencies:

• grpcio
• grpcio-tools
• protobuf
• requests
• Pillow
• numpy
• pyModbusTCP
• netifaces

These dependencies will be automatically installed when you install the package using pip.

Examples

Please refer to the 'python/examples' and 'cpp/src' folder in the package for Python and C++ usage examples.

Support

If you encounter any issues or need help, please open an issue on the project's repository.

License

This project is licensed under the MIT License - see the LICENSE file for details.