Tcp server over python api (NiryoRobotics#30)

* Tcp part done: all commands done Veuillez saisir le message de validation pour vos modifications. Les lignes * Some enum adjustement / improvement * Add README.md * Update README.md * Readme update + python client added to repository + tcp_server 'ros compilation' compliant * All readme updated + getters object returned now (parsing server answers done) + example script * TCP Server readme updated * Edit readmes + small changes modification * Readme updated * Link readmes updated * Fix readmes
MADONOKOUKI · Aug 27, 2019 · b8d5518 · b8d5518
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diff --git a/niryo_one_tcp_server/CMakeLists.txt b/niryo_one_tcp_server/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_one_tcp_server)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  niryo_one_msgs
+  niryo_one_python_api)
+
+catkin_python_setup()
+
+catkin_package()
+
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
diff --git a/niryo_one_tcp_server/README.md b/niryo_one_tcp_server/README.md
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+# Niryo One Tcp Server
+This a Tcp server built on top of the [Niryo Python API](../niryo_one_python_api).
+<br><br>Programs can communicate through network TCP with the robots in any language available. (see [clients](clients) folder for available clients)
+<br>It offers a simple way for developers to create programs for robot to control them via remote communication on a computer, on a mobile or any device with network facilities.
+
+## Documentation
+
+### Architecture
+
+![Niryo One TCP architecture](img/Niryo&#32;One&#32;TCP&#32;Architecture.jpg)
+
+### Connection
+
+Port of the server: 40001
+
+### Communication
+
+* Only one client can communicate with the server (reconnection effective but no multi clients).
+* The server answer only after the command is done, so it cannot deal with multiple commands at the same time.
+
+### Format
+
+For easier usage and easier debugging, the communication is in ascii format.
+
+#### General format
+
+* For command without parameter, the format is:
+    * `COMMAND`
+* For command with parameter, the format is:
+    * `COMMAND:param1,param2`
+
+#### Answer format
+
+* For all commands, the result will looks like this:
+    * `COMMAND:OK`
+        * Example: `OPEN_GRIPPER:OK`
+    * `COMMAND:OK,DATA`
+        * Example: `DIGITAL_READ:OK,1`
+    * `COMMAND:KO,"REASON"`
+        * Given: `SET_LEARNING_MODE`
+        * Returned error: `SET_LEARNING_MODE:KO,"Incorrect number of parameter(s) given."`
+
+**Notes:** That means, if you develop you own tcp client, just parse the status ('OK' / 'KO') after your given command and act in consequence.
+
+### Common error answers
+
+* Expected one of the following: `expected_choice`. Given: `value`.
+* Expected the following type: `expected_type`. Given: `type`.
+* Expected: `expected_nbr` parameters, given: `number_parameters`.
+
+### Clients
+
+For already existing clients, please go to the [clients](clients) folder and check if there's an already existing client that communicate with the Niryo One across TCP/IP.
+
+### Commands
+
+* "CALIBRATE"
+* "SET_LEARNING_MODE"
+* "MOVE_JOINTS"
+* "MOVE_POSE"
+* "SHIFT_POSE"
+* "SET_ARM_MAX_VELOCITY"
+* "ENABLE_JOYSTICK"
+* "SET_PIN_MODE"
+* "DIGITAL_WRITE"
+* "DIGITAL_READ"
+* "CHANGE_TOOL"
+* "OPEN_GRIPPER"
+* "CLOSE_GRIPPER"
+* "PULL_AIR_VACUUM_PUMP"
+* "PUSH_AIR_VACUUM_PUMP"
+* "SETUP_ELECTROMAGNET"
+* "ACTIVATE_ELECTROMAGNET"
+* "DEACTIVATE_ELECTROMAGNET"
+* "GET_JOINTS"
+* "GET_POSE"
+* "GET_HARDWARE_STATUS"
+* "GET_LEARNING_MODE"
+* "GET_DIGITAL_IO_STATE"
+
+#### CALIBRATE
+
+Parameters:
+* Mode:
+    * AUTO for an automatic calibration
+    * MANUAL for a manual calibration
+
+**Example:** `CALIBRATE:AUTO`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### SET_LEARNING_MODE
+
+Parameters:
+* enabled:
+    * TRUE to activate learning mode
+    * FALSE to deactivate learning mode
+
+**Example:**
+    `SET_LEARNING_MODE:TRUE`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### MOVE_JOINTS
+
+Parameters:
+* j1: value of joints **(rad)** in **float**
+* j2: value of joints **(rad)** in **float**
+* j3: value of joints **(rad)** in **float**
+* j4: value of joints **(rad)** in **float**
+* j5: value of joints **(rad)** in **float**
+* j6: value of joints **(rad)** in **float**
+
+**Example:**
+    `MOVE_JOINTS:0.03,0.0123,0.456,0.987,0.654,0.321`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### MOVE_POSE
+
+Parameters:
+* x: value of x position **(m)** in **float**
+* y: value of y position **(m)** in **float**
+* z: value of z position **(m)** in **float**
+* roll: value of roll rotation **(rad)** in **float**
+* pitch: value of pitch rotation **(rad)** in **float**
+* yaw: value of yaw rotation **(rad)** in **float**
+
+**Example:**
+    `MOVE_JOINTS:0.03,0.0123,0.456,0.987,0.654,0.321`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### SHIFT_POSE
+
+Parameters:
+* axis: X / Y / Z / ROLL / PITCH / YAW
+* value: value to shift the desired axis in **float**
+    * Notes: Same units as before (m / rad) depending of axis
+
+**Example:**
+    `SHIFT_POSE:ROLL,0.03142`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### SET_ARM_MAX_VELOCITY
+
+Parameters:
+* percentage: percentage of max velocity in **integer**
+
+**Example:**
+    `SET_ARM_MAX_VELOCITY:50`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### ENABLE_JOYSTICK
+
+Parameters:
+* enabled: TRUE / FALSE
+
+**Example:**
+    `ENABLE_JOYSTICK:FALSE`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### SET_PIN_MODE
+
+Parameters:
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+* pin_mode: OUTPUT / INPUT
+
+**Example:**
+    `SET_PIN_MODE:GPIO_2B,OUTPUT`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### DIGITAL_WRITE
+
+Parameters:
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+* pin_state: LOW / HIGH
+
+**Example:**
+    `DIGITAL_WRITE:GPIO_2A,LOW`
+<br>**Answers:** See [answer format section](#answer-format)
+
+**Notes:** The pin must have been previously set as OUTPUT.
+
+#### DIGITAL_READ
+
+Parameters:
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+
+**Example:**
+    `DIGITAL_READ:GPIO_1A`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### CHANGE_TOOL
+
+Parameters:
+* tool: GRIPPER_1 / GRIPPER_2 / GRIPPER_3 / VACUUM_PUMP_1 / ELECTROMAGNET_1
+
+**Example:**
+    `CHANGE_TOOL:GRIPPER_2`
+<br>**Answers:** See [answer format section](#answer-format)
+
+**Notes:** Before you execute any action on a tool, you have to select it with this method.
+
+#### OPEN_GRIPPER
+
+Parameters:
+* gripper_type: GRIPPER_1 / GRIPPER_2 / GRIPPER_3
+* speed: speed value as **integer**
+    * **Between** 0 and 1000.
+    * **Recommended** : between 100 and 500
+
+**Example:**
+    `OPEN_GRIPPER:GRIPPER_3,200`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### CLOSE_GRIPPER
+
+Parameters:
+* gripper_type: GRIPPER_1 / GRIPPER_2 / GRIPPER_3
+* speed: speed value as **integer**
+    * **Between** 0 and 1000.
+    * **Recommended** : between 100 and 500
+
+**Example:**
+    `CLOSE_GRIPPER:GRIPPER_1,200`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### PULL_AIR_VACUUM_PUMP
+
+Parameters:
+* vacuum_type: VACUUM_PUMP_1
+    * Notes: Only one type available for now
+
+**Example:**
+    `PULL_AIR_VACUUM_PUMP:VACUUM_PUMP_1`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### PUSH_AIR_VACUUM_PUMP
+
+Parameters:
+* vacuum_type: VACUUM_PUMP_1
+    * Notes: Only one type available for now
+
+**Example:**
+    `PUSH_AIR_VACUUM_PUMP:VACUUM_PUMP_1`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### SETUP_ELECTROMAGNET
+
+Parameters:
+* electromagnet_type: ELECTROMAGNET_1
+    * Notes: Only one type available for now
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+
+**Example:**
+    `SETUP_ELECTROMAGNET:ELECTROMAGNET_1,GPIO_2B`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### ACTIVATE_ELECTROMAGNET
+
+Parameters:
+* electromagnet_type: ELECTROMAGNET_1
+    * Notes: Only one type available for now
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+
+**Example:**
+    `ACTIVATE_ELECTROMAGNET:ELECTROMAGNET_1,GPIO_2B`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### DEACTIVATE_ELECTROMAGNET
+
+Parameters:
+* electromagnet_type: ELECTROMAGNET_1
+    * Notes: Only one type available for now
+* pin: GPIO_1A / GPIO_1B / GPIO_1C / GPIO_2A / GPIO_2B / GPIO_2C
+
+**Example:**
+    `DEACTIVATE_ELECTROMAGNET:ELECTROMAGNET_1,GPIO_2C`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### GET_JOINTS
+
+No parameters
+
+**Example:**
+    `GET_JOINTS`
+<br>**Answers:**
+* On success the format is `GET_JOINTS:OK,j1,j2,j3,j4,j5,j6`:
+    * ex: `GET_JOINTS:OK,0.0,0.640187,-1.397485,0.0,0.0,0.0`
+    * j1, ..., j6 values are expressed in radian
+
+#### GET_POSE
+
+No parameters
+
+**Example:**
+    `GET_POSE`
+<br>**Answers:**
+* On success the format is `GET_POSE:OK,x,y,z,roll,pitch,yaw
+    * ex: `GET_POSE:OK,0.0695735635306,1.31094787803e-12,0.200777981243,-5.10302119597e-12,0.757298,5.10351727471e-12`
+    * x, y, z values are expressed in meter
+    * roll, pitch, yaw are expressed in radian
+
+#### GET_HARDWARE_STATUS
+
+No parameters
+
+**Example:**
+    `GET_HARDWARE_STATUS`
+<br>**Answers:**
+* On success the format is `GET_HARDWARE_STATUS:OK,rpi_temperature,hardware_version,connection_up,error_message,calibration_needed,calibration_in_progress,[motor_names],[motor_types],[temperatures],[voltages],[hardware_errors]`
+    * ex: `GET_HARDWARE_STATUS:OK,59,2,True,'',0,False,['Stepper Axis 1', 'Stepper Axis 2', 'Stepper Axis 3', 'Servo Axis 4', 'Servo Axis 5', 'Servo Axis 6'],['Niryo Stepper', 'Niryo Stepper', 'Niryo Stepper', 'DXL XL-430', 'DXL XL-430', 'DXL XL-320'],(34, 34, 37, 43, 45, 37),(0.0, 0.0, 0.0, 11.3, 11.2, 7.9),(0, 0, 0, 0, 0, 0)`
+#### GET_LEARNING_MODE
+
+No parameters
+
+**Example:**
+    `GET_LEARNING_MODE`
+<br>**Answers:** See [answer format section](#answer-format)
+
+#### GET_DIGITAL_IO_STATE
+
+No parameters
+
+**Example:**
+    `GET_DIGITAL_IO_STATE`
+<br>**Answers:**
+* On success the format is `GET_DIGITAL_IO_STATE:OK,[pin_id, name, mode, state],...` ('...' means that the `[pin_id, name, mode, state]` block is repeated for each pin)
+    * ex: `GET_DIGITAL_IO_STATE:OK,[2, '1A', 1, 1],[3, '1B', 1, 1],[16, '1C', 1, 1],[26, '2A', 1, 1],[19, '2B', 1, 1],[6, '2C', 1, 1],[12, 'SW1', 0, 0],[13, 'SW2', 0, 0]`
diff --git a/niryo_one_tcp_server/clients/README.md b/niryo_one_tcp_server/clients/README.md
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+# TCP clients
+
+All the clients available in this folder communicate directly with the [TCP server](..) of the Niryo One.
+<br>**Notes:** New TCP client available may arrived in the future
+
+## Available TCP clients
+
+* [Python client](python)
+
+**Notes:**
+<br> If you need a specific language client that is not currently proposed, please send an email to [email protected], explaining :
+* Which language / platform you would like
+* In which context you want this specific client (professional / own usage, application, ...)
+* When would you need it / what is your deadline ?
+
+## Bug
+
+If you encounter a bug or you have suggestion(s) over one of the client, please send an email to  [email protected] explaining:
+* Which client you talk about (language / platform)
+* In which situation you encounter this bug. (For handling your request as best as we could, be precise as much as possible)
+    * If possible, takes a screen shot / copy-paste the error printed.