reachy2_sdk

  1"""ReachySDK package.
  2
  3This package provides remote access (via socket) to a Reachy robot.
  4It automatically handles the synchronization with the robot.
  5In particular, you can easily get an always up-to-date robot state (joint positions, sensors value).
  6You can also send joint commands, compute forward or inverse kinematics.
  7
  8Simply do
  9```python
 10from reachy2_sdk.reachy_sdk import ReachySDK
 11reachy = ReachySDK(host="ip_address")
 12```
 13
 14And you're ready to use Reachy!
 15
 16*Examples are available [here](https://github.com/pollen-robotics/reachy2-sdk/tree/develop/src/examples)
 17 and tutorials [there](https://github.com/pollen-robotics/reachy2-tutorials) !*
 18
 19"""
 20import configparser
 21import os
 22from importlib.metadata import PackageNotFoundError, version
 23from typing import List
 24
 25import reachy2_sdk_api
 26from packaging.requirements import Requirement
 27from packaging.version import parse
 28
 29from .reachy_sdk import ReachySDK  # noqa: F401
 30
 31__version__ = "1.0.10"
 32
 33
 34def get_dependencies_from_setup_cfg() -> List[str]:
 35    """Get dependencies from setup.cfg file."""
 36    setup_cfg_path = os.path.abspath(os.path.join(__file__, "../../..", "setup.cfg"))
 37
 38    config = configparser.ConfigParser()
 39    config.read(setup_cfg_path)
 40
 41    if "options" in config and "install_requires" in config["options"]:
 42        dependencies = config["options"]["install_requires"].strip().splitlines()
 43        return [dep.strip() for dep in dependencies if dep.strip()]
 44
 45    return []
 46
 47
 48def check_reachy2_sdk_api_dependency(requirement: str) -> None:
 49    """Check if the installed version of reachy2-sdk-api is compatible with the required one.
 50
 51    Also check if the used version of reachy2-sdk-api is higher than the minimal required version.
 52    """
 53    api_requirement = Requirement(requirement)
 54
 55    try:
 56        installed_version = reachy2_sdk_api.__version__
 57    except AttributeError:
 58        try:
 59            installed_version = version("reachy2-sdk-api")
 60        except PackageNotFoundError:
 61            raise ImportError("❌ reachy2-sdk-api is NOT installed!")
 62
 63    installed_parsed = parse(installed_version)
 64
 65    if installed_parsed in api_requirement.specifier:
 66        min_required_version = None
 67        for spec in api_requirement.specifier:
 68            if spec.operator in (">=", "=="):
 69                min_required_version = parse(spec.version)
 70                break
 71
 72        if min_required_version is None:
 73            raise ValueError(f"❌ No valid minimum version found in '{api_requirement}'")
 74
 75        if installed_parsed > min_required_version:
 76            print(
 77                f"Installed version of reachy2-sdk-api {installed_version} is higher than"
 78                f" the minimal requirement {min_required_version},"
 79                " a newer version of reachy2-sdk may be available."
 80            )
 81    else:
 82        raise ValueError(
 83            f"⚠️  Version conflict for reachy2-sdk-api:"
 84            f"\n\tInstalled {installed_version},"
 85            f"\n\tRequired {api_requirement.specifier}"
 86        )
 87
 88
 89def check_dependencies() -> None:
 90    """Check if the installed dependencies are compatible with the required ones."""
 91    dependencies = get_dependencies_from_setup_cfg()
 92    for requirement in dependencies:
 93        try:
 94            if requirement.startswith("reachy2-sdk-api"):
 95                check_reachy2_sdk_api_dependency(requirement)
 96            else:
 97                req = Requirement(requirement)
 98                installed_version = version(req.name)
 99                if parse(installed_version) not in req.specifier:
100                    raise ValueError(
101                        f"⚠️  Version conflict for {req.name}: \n\tInstalled {installed_version}, \n\tRequired {req.specifier}"
102                    )
103        except PackageNotFoundError:
104            print(f"❌ Missing dependency: {requirement}")
105        except ValueError as e:
106            print(e)
107
108
109check_dependencies()