Python GRPC client for comunicating with Ethercat Master

To use this client run the following command:

maturin develop --release

IMPORTANT: We suggest using a conda environment to install the client.

conda create -n poulpe_ethercat python=3.8
conda activate poulpe_ethercat
maturin develop --release

This will install the python client in the current environment. And then you can open the notebooks in the notebooks folder and scripts in the scripts folder to see how to use the client.

The client is a wrapper around the GRPC client generated from the poulpe_ethercat_grpc/src/client.rs folder.

Run the GRPC server

Make sure to run the GRPC server before running the client. This can be done using the following command:

cargo run --release ../config/file/here.yaml

Simple example

from python_client import PyPoulpeRemoteClient
import time

slave_id = 0
no_axis = 3

print('Connecting on slave: {}'.format(slave_id))
# Create an instance of the client
client = PyPoulpeRemoteClient("http://127.0.0.1:50098", [slave_id], 0.001)

time.sleep(1.0)

print("Connected slaves to master: {}".format(client.get_connected_devices()))

print("Slave {} compliancy is: {}".format(slave_id, client.get_torque_state(slave_id)))
print("Slave {} current position: {}".format(slave_id, client.get_position_actual_value(slave_id)))

which might output something like:

Connecting on slave: 0
Connected slaves to master: ([0], ['NeckOrbita3d'])
Slave 0 compliancy is: True
Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065196501265746e-06]