a big rename to poulpe_ehtercat_py

Author: askuric

.github/workflows/rust.yml

@@ -65,7 +65,7 @@ jobs:
       - name: Build Docs
         run: |
           ETHERCAT_PATH=$(pwd)/ethercat-hg RUSTDOCFLAGS="--enable-index-page -Zunstable-options" cargo +nightly doc --no-deps --workspace --lib
-          ETHERCAT_PATH=$(pwd)/ethercat-hg RUSTDOCFLAGS="--enable-index-page -Zunstable-options" cargo +nightly doc --no-deps --package python_client
+          ETHERCAT_PATH=$(pwd)/ethercat-hg RUSTDOCFLAGS="--enable-index-page -Zunstable-options" cargo +nightly doc --no-deps --package poulpe_ethercat_py
           mv target/doc docs/api
 
       - name: Upload Rust Docs

Cargo.toml

@@ -3,7 +3,7 @@ members = [
     "ethercat_controller",
     "poulpe_ethercat_controller",
     "poulpe_ethercat_grpc",
-    "python_client"
+    "poulpe_ethercat_py"
 ]
 default-members = [
     "ethercat_controller",

docs/examples/grpc.md

@@ -86,17 +86,17 @@ RUST_LOG=info cargo run --release --example client_sinus # add the slave id (ex.
 
 ### Python GRPC client
 
-- The `poulpe_ethercat_grpc` crate has a python client that can be used to connect to the GRPC server and read the states of the poulpe boards connected to the network. The python client is a wrapper around the GRPC client that is generated in the `python_client` crate. 
+- The `poulpe_ethercat_grpc` crate has a python client that can be used to connect to the GRPC server and read the states of the poulpe boards connected to the network. The python client is a wrapper around the GRPC client that is generated in the `poulpe_ethercat_py` crate. 
 - The python client uses the `maturin` package to build the python wheel.
-- See the [python_client docs](../../installation/python_client) for instructions on how to build the python client.
+- See the [poulpe_ethercat_py docs](../../installation/poulpe_ethercat_py) for instructions on how to build the python client.
 
-Once you have your python bindings you can run the examples from the `python_client/scripts` directory or notebooks from the `python_client/notebooks` directory.
+Once you have your python bindings you can run the examples from the `poulpe_ethercat_py/scripts` directory or notebooks from the `poulpe_ethercat_py/notebooks` directory.
 
 Or you can write your own python scripts to interact with the poulpe boards connected to the network. For example
 
 
 ```python
-from python_client import PyPoulpeRemoteClient
+from poulpe_ethercat_py import PyPoulpeRemoteClient
 import time
 
 slave_id = 0
@@ -127,8 +127,8 @@ Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065
 ```
 
 NOTE: 
-- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `python_client` crate in the [python_client docs](../../api/python_client).
-- You can find mure examples of useing the python client in the `python_client/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/python_client/notebooks)
+- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `poulpe_ethercat_py` crate in the [poulpe_ethercat_py docs](../../api/poulpe_ethercat_py).
+- You can find mure examples of useing the python client in the `poulpe_ethercat_py/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/poulpe_ethercat_py/notebooks)
 
 ### Orbita2d and Orbita3d control clients
 

docs/installation/index.md

@@ -59,7 +59,7 @@ If you are using the python-only version of the code you can install the code di
 Make sure to use the tag corresponding to the version of the firmware that you are using. For example, if we use the 1.5.4 tag: (see the [tags](https://github.com/pollen-robotics/poulpe_ethercat_controller/tags))
 
 ```shell
-pip install git+https://github.com/pollen-robotics/[email protected]#subdirectory=python_client --verbose
+pip install git+https://github.com/pollen-robotics/[email protected]#subdirectory=poulpe_ethercat_py --verbose
 ```
 
 NOTE:
@@ -68,7 +68,7 @@ This install procedure is available from the version 1.5.4 of the `poulpe_etherc
 Once this is installed you can use the python client to communicate with the poulpe board. 
 
 ```python
-import python_client
+import poulpe_ethercat_py
 ```
 
 ## Installing from source
@@ -90,7 +90,7 @@ git checkout 1.5.x
 cargo build --release
 ```
 
-See how to [install the python bindings](python_client) from the source code.
+See how to [install the python bindings](poulpe_ethercat_py) from the source code.
 
 
 

docs/installation/python_client.md renamed to docs/installation/poulpe_ethercat_py.md

@@ -6,12 +6,12 @@ parent: Installation and configuration
 
 # Python GRPC client bindings
 
-The `poulpe_ethercat_controller` crate provides a GRPC server and client interface that can be accessed by multiple clients at the same time, either in Rust or Python. The GRPC server is implemented in Rust and the client bindings are generated for both Rust and Python. The python bindings are implemented in `python_client` crate.
+The `poulpe_ethercat_controller` crate provides a GRPC server and client interface that can be accessed by multiple clients at the same time, either in Rust or Python. The GRPC server is implemented in Rust and the client bindings are generated for both Rust and Python. The python bindings are implemented in `poulpe_ethercat_py` crate.
 
 The simplest way of obtaining the python client is to pip install the code directly from the git the repository, using the tag corresponding to the version of the firmware that you are using. For example, if we use the 1.5.4 tag: (see the [tags](https://github.com/pollen-robotics/poulpe_ethercat_controller/tags))
 
 ```shell
-pip install git+https://github.com/pollen-robotics/[email protected]#subdirectory=python_client --verbose
+pip install git+https://github.com/pollen-robotics/[email protected]#subdirectory=poulpe_ethercat_py --verbose
 ```
 
 NOTE:
@@ -23,7 +23,7 @@ This install procedure is available from the version 1.5.4 of the `poulpe_etherc
 Provided that you already have the `poulpe_ethercat_controller` crate cloned and built, you can install the python client bindings from the source code. You can find more information on how to build the code in the <a href="../">installation and configuration</a> section.
 
 
-First place yourself in the `python_client` directory, and then you can build the python client bindings you can use the `maturin` tool.
+First place yourself in the `poulpe_ethercat_py` directory, and then you can build the python client bindings you can use the `maturin` tool.
 
 ```bash
 maturin develop --release
@@ -45,7 +45,7 @@ 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. See the [notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/python_client/notebooks) for more information.
+And then you can open the notebooks in the `notebooks` folder and scripts in the `scripts` folder to see how to use the client. See the [notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/poulpe_ethercat_py/notebooks) for more information.
 
 The client is a wrapper around the GRPC client generated from the `poulpe_ethercat_grpc/src/client.rs` folder.
 
@@ -64,7 +64,7 @@ ethercat:
 And then you can run the following python script:
 
 ```python
-from python_client import PyPoulpeRemoteClient, launch_server, get_all_slaves_in_network
+from poulpe_ethercat_py import PyPoulpeRemoteClient, launch_server, get_all_slaves_in_network
 import time
 
 # launch the server first
@@ -111,5 +111,5 @@ Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065
 
 
 NOTE: 
-- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `python_client` crate in the [python_client docs](../../api/python_client).
-- You can find mure examples of useing the python client in the `python_client/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/python_client/notebooks)
+- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `poulpe_ethercat_py` crate in the [poulpe_ethercat_py docs](../../api/poulpe_ethercat_py).
+- You can find mure examples of useing the python client in the `poulpe_ethercat_py/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/poulpe_ethercat_py/notebooks)

docs/software/index.md

@@ -19,8 +19,8 @@ has_children: true
     - See more in the [poulpe_ethercat_controller](poulpe_ethercat_controller)
 - `poulpe_ethercat_grpc`: This crate uses the `poulpe_ethercat_controller` to allow for reading assynchronously from multiple poulpe boards connected to the same ethercat master. It is based on the `grpc` protocol. It allows for creating a single server that can be accessed by multiple clients.
     - See more in the [poulpe_ethercat_grpc](poulpe_ethercat_grpc)
-- `python_client`: This is a python wrapper of the `poulpe_ethercat_grpc` crate's client side. It allows for reading from multiple poulpe boards connected to the same ethercat master from python and in that way enables quick prototyping.
-    - See more in the [python_client](python_client)
+- `poulpe_ethercat_py`: This is a python wrapper of the `poulpe_ethercat_grpc` crate's client side. It allows for reading from multiple poulpe boards connected to the same ethercat master from python and in that way enables quick prototyping.
+    - See more in the [poulpe_ethercat_py](poulpe_ethercat_py)
 - `config`: This is a directory that contains the configuration files for the poulpe boards. It contains the eeprom configuration files for the LN9252 chip on the poulpe boards as well as the EtherCAT networks slave configuration yaml files that are used to create the ethercat master.
     - See more in the [config](config)
 The full stack looks something like this:

docs/software/python_client.md

@@ -1,13 +1,13 @@
 ---
-title: python_client
+title: poulpe_ethercat_py
 layout: default
 nav_order: 6
 parent: Crates
 ---
 
 ## Python GRPC client for comunicating with Ethercat Master 
 
-See more info on installing the client in the [Installation and configuration](../../installation/python_client) docs.
+See more info on installing the client in the [Installation and configuration](../../installation/poulpe_ethercat_py) docs.
 
 ## Run the GRPC server
 Make sure to run the GRPC server before running the client.
@@ -20,7 +20,7 @@ $ cargo run --release ../config/file/here.yaml
 ## Simple example
 
 ```python
-from python_client import PyPoulpeRemoteClient
+from poulpe_ethercat_py import PyPoulpeRemoteClient
 import time
 
 slave_id = 0
@@ -46,4 +46,4 @@ Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065
 
 
 NOTE:
-<i class="fa fa-book fa-lg"></i> The full software API can be found [here](../../api/python_client)
+<i class="fa fa-book fa-lg"></i> The full software API can be found [here](../../api/poulpe_ethercat_py)

python_client/.gitignore renamed to poulpe_ethercat_py/.gitignore

@@ -1,5 +1,5 @@
 [package]
-name = "python_client"
+name = "poulpe_ethercat_py"
 version = "1.5.0"
 edition = "2021"
 
@@ -14,6 +14,6 @@ tonic = "0.11"
 tokio = { version = "1.21.0", features = ["macros", "rt-multi-thread"] }
 
 [lib]
-name = "python_client"
+name = "poulpe_ethercat_py"
 path = "src/lib.rs"
 crate-type = ["cdylib"]

python_client/.rustc_info.json renamed to poulpe_ethercat_py/.rustc_info.json

@@ -30,7 +30,7 @@ cargo run --release ../config/file/here.yaml
 ## Simple example
 
 ```python
-from python_client import PyPoulpeRemoteClient
+from poulpe_ethercat_py import PyPoulpeRemoteClient
 import time
 
 slave_id = 0

python_client/Cargo.toml renamed to poulpe_ethercat_py/Cargo.toml

@@ -31,20 +31,21 @@
      "text": [
       "POULPE controller ready!\n",
       "Devices connected in the network: \n",
-      "Slave 0: RightShoulderOrbita2d\n"
+      "Slave 0: LeftWristOrbita3d\n"
      ]
     }
    ],
    "source": [
-    "import python_client\n",
+    "from poulpe_ethercat_py import PyEthercatServer\n",
     "import time\n",
     "\n",
     "# launch the server\n",
-    "address = python_client.launch_server(\"../../config/ethercat.yaml\")\n",
+    "server = PyEthercatServer()\n",
+    "server.launch_server(\"../../config/ethercat.yaml\")\n",
     "time.sleep(1)\n",
     "\n",
     "# print all slaves in the network\n",
-    "devices = python_client.get_all_slaves_in_network(address)\n",
+    "devices = server.get_all_slaves_in_network()\n",
     "print(\"Devices connected in the network: \")\n",
     "for i,name in zip(devices[0],devices[1]):\n",
     "    print(\"Slave {}: {}\".format(i,name))"
@@ -60,26 +61,26 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 2,
    "id": "c69edec1-3871-44d0-a104-73a40eebb4ee",
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "([0], ['RightShoulderOrbita2d'])\n"
+      "([0], ['LeftWristOrbita3d'])\n"
      ]
     }
    ],
    "source": [
-    "from python_client import PyPoulpeRemoteClient\n",
+    "from poulpe_ethercat_py import PyPoulpeRemoteClient\n",
     "\n",
     "slave_id = 0\n",
     "n_axis = 2 # 2 or 3\n",
     "\n",
     "# Create an instance of the client\n",
-    "client = PyPoulpeRemoteClient(address, [slave_id], 0.001)\n",
+    "client = PyPoulpeRemoteClient(server.addr, [slave_id], 0.001)\n",
     "\n",
     "print(client.get_connected_devices())\n",
     "\n",

python_client/README.md renamed to poulpe_ethercat_py/README.md

@@ -21,28 +21,31 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 5,
    "id": "1886418a-95ba-4ea5-8834-8a2c23e3effc",
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "POULPE controller ready!\n"
+      "POULPE controller ready!\n",
+      "Devices connected in the network: \n",
+      "Slave 0: LeftWristOrbita3d\n"
      ]
     }
    ],
    "source": [
-    "import python_client\n",
+    "from poulpe_ethercat_py import PyEthercatServer\n",
     "import time\n",
     "\n",
     "# launch the server\n",
-    "address = python_client.launch_server(\"../../config/ethercat.yaml\")\n",
+    "server = PyEthercatServer()\n",
+    "server.launch_server(\"../../config/ethercat.yaml\")\n",
     "time.sleep(1)\n",
     "\n",
     "# print all slaves in the network\n",
-    "devices = python_client.get_all_slaves_in_network(address)\n",
+    "devices = server.get_all_slaves_in_network()\n",
     "print(\"Devices connected in the network: \")\n",
     "for i,name in zip(devices[0],devices[1]):\n",
     "    print(\"Slave {}: {}\".format(i,name))"
@@ -66,18 +69,18 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "([1], ['RightWristOrbita3d'])\n"
+      "([0], ['LeftWristOrbita3d'])\n"
      ]
     }
    ],
    "source": [
-    "from python_client import PyPoulpeRemoteClient\n",
+    "from poulpe_ethercat_py import PyPoulpeRemoteClient\n",
     "\n",
-    "slave_id = 1\n",
+    "slave_id = 0\n",
     "n_axis =  3# 2 or 3\n",
     "\n",
     "# Create an instance of the client\n",
-    "client = PyPoulpeRemoteClient(address, [slave_id], 0.001)\n",
+    "client = PyPoulpeRemoteClient(server.addr, [slave_id], 0.001)\n",
     "\n",
     "print(client.get_connected_devices())\n",
     "\n",

python_client/notebooks/orbita2d_test_assembly.ipynb renamed to poulpe_ethercat_py/notebooks/orbita2d_test_assembly.ipynb

@@ -18,28 +18,31 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 1,
    "id": "45a55cd9-9ed1-43c7-9f18-63b4499ece82",
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "POULPE controller ready!\n"
+      "POULPE controller ready!\n",
+      "Devices connected in the network: \n",
+      "Slave 0: LeftWristOrbita3d\n"
      ]
     }
    ],
    "source": [
-    "import python_client\n",
+    "from poulpe_ethercat_py import PyEthercatServer\n",
     "import time\n",
     "\n",
     "# launch the server\n",
-    "address = python_client.launch_server(\"../../config/ethercat.yaml\")\n",
+    "server = PyEthercatServer()\n",
+    "server.launch_server(\"../../config/ethercat.yaml\")\n",
     "time.sleep(1)\n",
     "\n",
     "# print all slaves in the network\n",
-    "devices = python_client.get_all_slaves_in_network(address)\n",
+    "devices = server.get_all_slaves_in_network()\n",
     "print(\"Devices connected in the network: \")\n",
     "for i,name in zip(devices[0],devices[1]):\n",
     "    print(\"Slave {}: {}\".format(i,name))"
@@ -55,7 +58,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 2,
    "id": "c69edec1-3871-44d0-a104-73a40eebb4ee",
    "metadata": {},
    "outputs": [
@@ -64,20 +67,20 @@
      "output_type": "stream",
      "text": [
       "Connecting to slave 0\n",
-      "Connected to slaves | ids: [0] , names: ['RightShoulderOrbita2d']\n"
+      "Connected to slaves | ids: [0] , names: ['LeftWristOrbita3d']\n"
      ]
     }
    ],
    "source": [
-    "from python_client import PyPoulpeRemoteClient\n",
+    "from poulpe_ethercat_py import PyPoulpeRemoteClient\n",
     "import time\n",
     "\n",
     "slave_id = 0\n",
     "n_axis = 3 # 2 or 3 make sure to set it!!!!!\n",
     "\n",
     "print(\"Connecting to slave {}\".format(slave_id))\n",
     "# Create an instance of the client\n",
-    "client = PyPoulpeRemoteClient(address, [slave_id], 0.001)\n",
+    "client = PyPoulpeRemoteClient(server.addr, [slave_id], 0.001)\n",
     "# print the connected clients\n",
     "devs = client.get_connected_devices()\n",
     "print(\"Connected to slaves | ids: {} , names: {}\".format(devs[0],devs[1]) )\n",
@@ -291,7 +294,7 @@
    "source": [
     "### Some other API functions\n",
     "\n",
-    "- See all functions here: https://pollen-robotics.github.io/poulpe_ethercat_controller/api/python_client/"
+    "- See all functions here: https://pollen-robotics.github.io/poulpe_ethercat_controller/api/poulpe_ethercat_py/"
    ]
   },
   {