from Robotic_Arm.rm_robot_interface import *

armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
armright = RoboticArm()


lefthandle = armleft.rm_create_robot_arm("169.254.128.18", 8080)
print("机械臂ID：", lefthandle.id)
righthandle = armright.rm_create_robot_arm("169.254.128.19", 8080)
print("机械臂ID：", righthandle.id)

# software_info = armleft.rm_get_arm_software_info()
# if software_info[0] == 0:
#     print("\n================== Arm Software Information ==================")
#     print("Arm Model: ", software_info[1]['product_version'])
#     print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
#     print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
#     print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
#     print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
#     print("==============================================================\n")
# else:
#     print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")

print("Left: ", armleft.rm_get_current_arm_state())
print("Left: ", armleft.rm_get_arm_all_state())
armleft.rm_movej_p()
# print("Right: ", armright.rm_get_current_arm_state())


# 断开所有连接，销毁线程
RoboticArm.rm_destory()