modify the structure to make it a package

.github/workflows/continuous-deployment.yml

@@ -0,0 +1,55 @@
+name: Continuous Deployment and push to PyPI
+
+on:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4.1.7
+      with:
+        fetch-depth: 0
+
+    - name: Set up Python
+      uses: actions/setup-python@v5.1.0
+      with:
+        python-version: 3.12
+
+    - name: Install requirements
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r src/requirements.txt
+
+    - name: Create Tag
+      shell: bash
+      run: |
+        git config --local user.email "action@github.com"
+        git config --local user.name "GitHub Action"
+        TAG=$(git describe --tags $(git rev-list --tags --max-count=1))
+        NEW_TAG=$(echo $TAG | awk -F. -v OFS=. '{$NF++; print}')
+        git tag -a $NEW_TAG -m "Release version $NEW_TAG"
+        sed -i "s/version='.*',/version='${NEW_TAG}',/" setup.py
+        git commit -am "Bump version to ${NEW_TAG}"
+        git push origin $NEW_TAG
+        echo "NEW_TAG=$NEW_TAG" >> $GITHUB_ENV
+
+    - name: Create Release
+      uses: softprops/action-gh-release@v2.0.5
+      with:
+        token: ${{ secrets.GITHUB_TOKEN }}
+        tag_name: ${{ env.NEW_TAG }}
+        generate_release_notes: true
+
+    - name: Build package
+      run: python -m build
+
+    - name: Publish package
+      uses: pypa/gh-action-pypi-publish@27b31702a0e7fc50959f5ad993c78deac1bdfc29
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_API_TOKEN }}

MANIFEST.in

@@ -0,0 +1,2 @@
+include LICENSE
+include README.md

README.md

@@ -1,33 +1,33 @@
-# ABB-EGM-Python
+# ABBRobotEGM
 
-A Python library for interfacing with ABB robots using Externally Guided Motion (EGM). This library provides real-time streaming communication with ABB robots at rates up to 250Hz using UDP.
+![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)
+
+`ABBRobotEGM` is a Python library for interfacing with ABB robots using Externally Guided Motion (EGM). This library provides real-time streaming communication with ABB robots at rates up to 250Hz using UDP.  It's based on the official ABB EGM [documentation](https://github.com/FLo-ABB/ABB-EGM-Python/blob/main/doc/3HAC073318%20AM%20Externally%20Guided%20Motion%20RW7-en.pdf) and examples, and it's designed to be easy to use and to integrate with other systems.
 
 ## Prerequisites
 
 - Python 3.x
 - ABB RobotWare 7.X (should work with 6.X with few modifications)
 - ABB Robot with EGM option (3124-1 Externally Guided Motion)
-- The following Python packages:
-  ```txt
-  numpy
-  protobuf
-  ```
 
-## Documentation
-Please refer to the [documentation](ttps://github.com/FLo-ABB/ABB-EGM-Python/blob/main/doc/3HAC073318%20AM%20Externally%20Guided%20Motion%20RW7-en.pdfh) for detailed information on EGM option.
 
-## Installation
+## Installation 🚀
+
+### Using pip 🐍
 
-1. Clone the repository
+To install the library using pip, run the following command:
 
-2. Install dependencies:
-```sh
-pip install -r requirements.txt
+```bash
+pip install ABBRobotEGM
 ```
 
+### Manual Installation 📦
+
+To use this library in your project, first download the repository and place the `ABBRobotEGM` folder in your project's directory. You can then import the `EGM` class from this library to use it in your project.
+
 ## Simple Examples
 
-The library includes several examples demonstrating different EGM functionalities. Inside each python example file, you can find the relative **RAPID** code that should be running on the robot controller.
+The repository includes several examples demonstrating different EGM functionalities. Inside each python example file, you can find the relative **RAPID** code that should be running on the robot controller.
 
 ### Guidance Mode
 
@@ -41,10 +41,52 @@ example_pose_guidance.py - Makes the robot move in a circular pattern
 ### Streaming Mode
 
 #### 1. Joint Streaming
-example_joint_stream.py - Streams robot joint positions
+example_joint_stream.py - Streams robot joint positions :
+```python	
+from ABBRobotEGM import EGM
+
+def main() -> None:
+    """
+    Example showing how to stream the robot's position.
+    Be sure the robot is running before running this script.
+    """
+    with EGM() as egm:
+        while True:
+            success, state = egm.receive_from_robot()
+            if not success:
+                print("Failed to receive from robot")
+                break
+            print(f"{state.clock[1]}, {state.joint_angles[0]}, {state.joint_angles[1]}, {state.joint_angles[2]}, {state.joint_angles[3]}, {state.joint_angles[4]}, {state.joint_angles[5]}")
+
+
+if __name__ == "__main__":
+    main()
+
+```	
+
 
 #### 2. Cartesian Streaming
 example_pos_stream.py - Streams robot cartesian position
+```python	
+from ABBRobotEGM import EGM
+
+def main() -> None:
+    """
+    Example showing how to stream the robot's position.
+    Be sure the robot is running before running this script.
+    """
+    with EGM() as egm:
+        while True:
+            success, state = egm.receive_from_robot()
+            if not success:
+                print("Failed to receive from robot")
+                break
+            print(f"{state.clock[1]}, {state.cartesian.pos.x}, {state.cartesian.pos.y}, {state.cartesian.pos.z}")
+
+
+if __name__ == "__main__":
+    main()
+```
 
 ### 3. Data Exchange
 example_table.py - Demonstrates exchanging data arrays with the robot
@@ -54,7 +96,7 @@ Example of a more complex scenario where the robot is scanning a surface giving
 
 https://github.com/user-attachments/assets/03f151de-e098-4255-ac46-7dff42231071
 
-## Features
+## Features 🚀
 
 - Real-time communication at up to 250Hz
 - Joint position control
@@ -66,10 +108,7 @@ https://github.com/user-attachments/assets/03f151de-e098-4255-ac46-7dff42231071
 - Force measurement reading
 - Comprehensive robot state feedback
 
-## License
-
-Licensed under the Apache License, Version 2.0. See LICENSE file for details.
 
-## Contributing
+## Contributing 🤝
 
 Contributions are welcome! Please feel free to submit pull requests.

scenario_scan/python/example_complex.py → examples/complex/scenario_scan/python/example_complex.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 import matplotlib.pyplot as plt
 import numpy as np
 import time

examples/complex/scenario_scan/requirements.txt

@@ -0,0 +1,2 @@
+matplotlib
+numpy

examples/requirements.txt

@@ -0,0 +1 @@
+ABBRobotEGM

example_table.py → examples/simple/example_table.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 import numpy as np
 
 # Robot Module #

example_joint_guidance.py → examples/simple/guidance/example_joint_guidance.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 import numpy as np
 
 # Robot Module #

example_pose_guidance.py → examples/simple/guidance/example_pose_guidance.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 import numpy as np
 
 # Robot Module #

example_joint_stream.py → examples/simple/stream/example_joint_stream.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 
 # Robot Module #
 # MODULE MainModule

example_pos_stream.py → examples/simple/stream/example_pos_stream.py

@@ -1,4 +1,4 @@
-from abb_egm.egm import EGM
+from ABBRobotEGM import EGM
 
 # MODULE MainModule
 #     VAR egmident egmID1;

setup.py

@@ -0,0 +1,24 @@
+from setuptools import setup, find_packages
+
+setup(
+    name='ABBRobotEGM',
+    version='1.0.0',
+    description='A Python library for real-time control and data streaming of ABB robots using EGM protocol, enabling high-frequency (250Hz) communication through UDP for industrial automation applications.',
+    long_description=open('README.md', encoding='utf-8').read(),
+    long_description_content_type='text/markdown',
+    author='Florian LOBERT',
+    url='https://github.com/FLo-ABB/ABB-EGM-Python',
+    packages=find_packages(where='src'),
+    package_dir={'': 'src'},
+    classifiers=[
+        'Programming Language :: Python :: 3',
+        'License :: OSI Approved :: Apache Software License',  # Fixed classifier
+        'Operating System :: OS Independent',
+        'Intended Audience :: Developers',
+    ],
+    python_requires='>=3.6',  # Specify minimum Python version
+    install_requires=[
+        'numpy',
+        'protobuf',
+    ],
+)

src/ABBRobotEGM/__init__.py

@@ -0,0 +1 @@
+from .egm import EGM

abb_egm/egm.py → src/ABBRobotEGM/egm.py

@@ -17,7 +17,7 @@
 import numpy as np
 import errno
 from typing import Tuple, NamedTuple, Any, Optional
-from abb_egm._egm_protobuf import egm_pb2
+from ABBRobotEGM._egm_protobuf import egm_pb2
 from .abb_data import Pos, Orientation, Euler, Pose
 
 # Constants

src/requirements.txt

@@ -0,0 +1,4 @@
+numpy
+protobuf
+setuptools
+build