From ae7f5b5ca6dd31fc398e0dfa2224dfcd1683d2d1 Mon Sep 17 00:00:00 2001
From: HanaeRateau <hanaerateau@yahoo.fr>
Date: Wed, 29 Apr 2026 18:55:29 +0200
Subject: [PATCH 1/5] Integrates a UDP bridge and changes to be compatible with
 it

---
 emioapi/__main__.py                     |  21 +-
 emioapi/_depthcamera.py                 |  32 +-
 emioapi/_positionestimation.py          |  29 ++
 emioapi/emiocamera.py                   |  29 +-
 emioapi/udp_bridge/udp_bridge.py        | 557 ++++++++++++++++++++++++
 emioapi/udp_bridge/udp_bridge_params.py |  24 +
 uv.lock                                 |   4 -
 7 files changed, 673 insertions(+), 23 deletions(-)
 create mode 100644 emioapi/udp_bridge/udp_bridge.py
 create mode 100644 emioapi/udp_bridge/udp_bridge_params.py

diff --git a/emioapi/__main__.py b/emioapi/__main__.py
index 9507c7c..6e08b99 100644
--- a/emioapi/__main__.py
+++ b/emioapi/__main__.py
@@ -1,12 +1,12 @@
-import emioapi
 import sys
 
-from emioapi._logging_config import logger
-
 def calibrate():
     """
     Calibrate the camera of the first Emio camera found
     """
+    import emioapi
+    from emioapi._logging_config import logger 
+
     camera = emioapi.EmioCamera(show=True)
     print("Available cameras:", emioapi.EmioCamera.listCameras())
 
@@ -34,8 +34,19 @@ def calibrate():
 
 
 if __name__ == "__main__":
-    if len(sys.argv) > 1 and sys.argv[1] == 'calibrate':
-        calibrate()
+    if len(sys.argv) > 1:
+        if sys.argv[1] == 'calibrate':
+            calibrate()
+        elif sys.argv[1] == 'UDPbridge':
+            import emioapi.udp_bridge.udp_bridge as udpBdrige
+            udpBdrige.main()
+        else:
+            print("Available functions from emioapi tool:")
+            for name in dir(sys.modules[__name__]):
+                if not name.startswith("_"):
+                    attr = getattr(sys.modules[__name__], name)
+                    if callable(attr):
+                        print(f"  {name} - {attr.__doc__}")
     else:
         print("Available functions from emioapi tool:")
         for name in dir(sys.modules[__name__]):
diff --git a/emioapi/_depthcamera.py b/emioapi/_depthcamera.py
index 22bf120..d9da9ce 100644
--- a/emioapi/_depthcamera.py
+++ b/emioapi/_depthcamera.py
@@ -1,6 +1,4 @@
-import os
 import json
-from time import sleep
 import time
 from enum import Enum
 
@@ -9,7 +7,7 @@
 import pyrealsense2 as rs
 
 from ._camerafeedwindow import CameraFeedWindow
-from ._positionestimation import PositionEstimation, image_pixel_to_mm, CONFIG_FILENAME
+from ._positionestimation import PositionEstimation, CONFIG_FILENAME
 from emioapi._logging_config import logger
 
 DEFAULT_CAMERA_PARAMS = {"hue_h": 90, "hue_l": 36, "sat_h": 255, "sat_l": 138, "value_h": 255, "value_l": 35, "erosion_size": 0, "area": 100}
@@ -68,6 +66,7 @@ class DepthCamera:
     parameter = {}
     tracking = False
     trackers_pos = []
+    trackers_pos_image = []
     maskWindow = None
     frameWindow = None
     hsvWindow = None
@@ -77,6 +76,7 @@ class DepthCamera:
     maskFrame = None
     frame: np.ndarray = None
     depth_frame: np.ndarray = None
+    depth_rsframe: np.ndarray = None
     depth_max = 430
     depth_min = 2
     calibration_status = CalibrationStatusEnum.NOT_CALIBRATED
@@ -123,6 +123,7 @@ def __init__(self,
             return
 
         self.trackers_pos = []
+        self.trackers_pos_image = []
 
         if parameter:
             self.parameter = parameter
@@ -290,19 +291,24 @@ def get_frame(self):
         color_frame = frames.get_color_frame()
 
         if not depth_frame or not color_frame:
-            return False, color_frame, depth_frame
+            return False
 
         # Convert images to numpy arrays
-        depth_image = np.asanyarray(depth_frame.get_data())
-        color_image = np.asanyarray(color_frame.get_data())
-        return True, color_image, depth_image, depth_frame
+        self.depth_frame = np.asanyarray(depth_frame.get_data())
+        self.frame = np.asanyarray(color_frame.get_data())
+        self.depth_rsframe = depth_frame
 
+        return True
 
-    def update(self):
-        ret, self.frame, self.depth_frame, depth_rsframe = self.get_frame()
 
+    def update(self):
+        ret = self.get_frame()
         if ret is False:
             return
+        self.process_frame()
+
+    def process_frame(self):
+
         # if frame is read correctly ret is True
 
         self.hsvFrame = cv.cvtColor(self.frame, cv.COLOR_BGR2HSV)
@@ -333,6 +339,7 @@ def update(self):
                 areas = [cv.contourArea(cnt) for cnt in contours]
 
                 self.trackers_pos = []
+                self.trackers_pos_image = []
                 for i, a in enumerate(areas):
                     if a > self.parameter['area']:
                         x, y = compute_contour_center(contours[i])
@@ -341,6 +348,7 @@ def update(self):
                         depth = compute_median_depth(contours[i], self.depth_frame) if self.depth_frame[y, x] == 0 else self.depth_frame[y, x]
                         worldx, worldy, worldz = self.position_estimator.camera_image_to_simulation(x, y, depth)
                         self.trackers_pos.append([worldx, worldy, worldz])
+                        self.trackers_pos_image.append([x, y, depth])
 
                         cv.drawContours(marker_mask, [contours[i]], -1, color=255, thickness=-1)
                         for frame in [self.hsvFrame, self.frame]:
@@ -352,7 +360,7 @@ def update(self):
                             cv.drawContours(self.frame, [contours[i]], -1, (255, 255, 0), 3)
 
         if self.compute_point_cloud:
-            points = self.pc.calculate(depth_rsframe)
+            points = self.pc.calculate(self.depth_rsframe)
             v = points.get_vertices()
             self.point_cloud = np.asanyarray(v).view(np.float32).reshape(-1, 3)  # xyz
 
@@ -370,7 +378,7 @@ def update(self):
                 self.hsvWindow.set_frame(self.hsvFrame)
 
             if self.depthWindow is not None and self.depthWindow.running:
-                colorized = np.asanyarray(rs.colorizer().colorize(depth_rsframe).get_data())
+                colorized = np.asanyarray(rs.colorizer().colorize(self.depth_rsframe).get_data())
                 self.depthWindow.set_frame(colorized)
 
             self.rootWindow.update()
@@ -395,4 +403,4 @@ def run_loop(self):
                 self.rootWindow.update()
             self.update()
 
-        self.close()
+        self.close()
\ No newline at end of file
diff --git a/emioapi/_positionestimation.py b/emioapi/_positionestimation.py
index 730f645..28bf8c0 100644
--- a/emioapi/_positionestimation.py
+++ b/emioapi/_positionestimation.py
@@ -343,7 +343,36 @@ def calibrate(self, frame, depth_image, aggregate, window=None)-> bool:
             window.set_frame(frame)
 
         return True
+    
+
+    def camera_image_to_simulation_plane_intersection(self, x: int, y: int, plane_n: np.ndarray, plane_d: float) -> list[float]:
+        """
+        Calculate the position of the object in our frame space by projecting the ray from the camera to the image point on a plane.
+
+        Args
+        x,y: int
+            The pixel coordinates
+
+        plane_n: np.ndarray
+            The normal vector of the plane
 
+        plane_d: float
+            The distance of the plane from the origin along its normal vector
+
+        Return:
+            position: numpy.ndarray
+                The real world coordinates of the object in the Emio frame space
+        """
+        ray_world = self.camera_image_to_simulation(x, y, 1.0) - self.t
+        camera_pos_world = self.t
+        denom = plane_n.dot(ray_world)
+        
+        if abs(denom) < 1e-6:
+            raise ValueError("Ray is parallel to the plane")
+        s = - (plane_n.dot(camera_pos_world) + plane_d) / denom
+        result = camera_pos_world + s * ray_world
+        return [result[0], result[1], result[2]]
+    
     
     def camera_image_to_simulation(self, x: int, y: int, depth: float) -> list[float]:
         """
diff --git a/emioapi/emiocamera.py b/emioapi/emiocamera.py
index cf916c5..509cfbf 100644
--- a/emioapi/emiocamera.py
+++ b/emioapi/emiocamera.py
@@ -61,6 +61,7 @@ class EmioCamera:
     _running: bool = False
     _parameter: dict = None
     _trackers_pos: list = []
+    _trackers_pos_image: list = []
     _point_cloud: np.ndarray = None
     _hsv_frame: np.ndarray = None
     _mask_frame: np.ndarray = None
@@ -261,6 +262,19 @@ def trackers_pos(self) -> list:
             else:
                 return []
 
+    @property
+    def trackers_pos_image(self) -> list:
+        """
+        Get the positions of the trackers in the image frame.
+        Returns:
+            list: The positions of the trackers in the image frame as a list of lists.
+        """
+        with self._lock:
+            if self._tracking:
+                return self._trackers_pos_image
+            else:
+                return []
+
     @property
     def point_cloud(self) -> np.ndarray:
         """
@@ -462,7 +476,17 @@ def update(self):
             Update the camera frames and tracking elements (markers and point cloud)
         """
         if self._camera is not None:
-            self._camera.update()
+            if self.get_frame():
+                self.process_frame()
+
+    def get_frame(self) -> bool:
+        if self._camera is not None:
+            return self._camera.get_frame()
+        return False
+
+    def process_frame(self):
+        if self._camera is not None:
+            self._camera.process_frame()
             with self._lock:
                 self._hsv_frame = self._camera.hsvFrame
                 self._mask_frame = self._camera.maskFrame
@@ -471,6 +495,7 @@ def update(self):
                     for p_camera in self._camera.trackers_pos:
                         p_emio = [p_camera[0], p_camera[1], p_camera[2], 0, 0, 0, 1]
                         self._trackers_pos.append(p_emio[0:3])
+                    self._trackers_pos_image = self._camera.trackers_pos_image.copy()
                     logger.debug(f"Trackers positions in camera frame: {self._camera.trackers_pos}, converted to Emio frame: {self._trackers_pos}")
                 if self._compute_point_cloud:
                         self._point_cloud = self._camera.point_cloud
@@ -482,4 +507,4 @@ def close(self):
         self._running = False
         if self._camera is not None:
             self._camera.close()
-#endregion
+#endregion
\ No newline at end of file
diff --git a/emioapi/udp_bridge/udp_bridge.py b/emioapi/udp_bridge/udp_bridge.py
new file mode 100644
index 0000000..cd4da7b
--- /dev/null
+++ b/emioapi/udp_bridge/udp_bridge.py
@@ -0,0 +1,557 @@
+import socket
+import warnings
+import time
+from enum import Enum
+import multiprocessing
+from multiprocessing.sharedctypes import SynchronizedArray
+from multiprocessing.synchronize import Event
+
+import numpy as np
+
+from emioapi import EmioMotors, EmioCamera
+import emioapi.udp_bridge.udp_bridge_params as prm
+
+#---------------------
+#region  UDP
+#---------------------
+class CommStatus(Enum):
+    """Status returned by :meth:`UDPBridge.send_and_receive`.
+
+    Attributes:
+        OK: Reply received, sequence numbers match (one-tick delay).
+        OK_NO_DELAY: Reply received with no delay (seq matches exactly).
+        DESYNC: Sequence mismatch detected; bridge is flushing the buffer.
+        TIMEOUT: No reply received within ``recv_timeout``.
+        RECONNECTED: Bridge lost sync and successfully re-handshaked.
+    """
+    OK           = "OK"
+    OK_NO_DELAY  = "OK_NO_DELAY"
+    DESYNC       = "DESYNC"
+    TIMEOUT      = "TIMEOUT"
+    RECONNECTED  = "RECONNECTED"
+
+
+class UDPBridge:
+    """UDP bridge between Python and a Remote host (e.g. Simulink) for real-time control.
+
+    Python is the clock master: it sends a vector of ``send_size`` doubles at
+    each tick (prepended with a sequence number) and blocks until Remote host
+    replies with a vector of ``recv_size`` doubles (also prepended with a
+    sequence number).
+
+    Wire format (both directions)::
+
+        [ seq (float64) | data[0] | data[1] | ... ]
+        total bytes = (1 + send_size) * 8   (Python -> Remote host)
+        total bytes = (1 + recv_size) * 8   (Remote host -> Python)
+
+    Not thread-safe: ``send_and_receive`` must be called from a single thread.
+
+    Typical usage::
+
+        with UDPBridge(send_size=3, recv_size=2) as bridge:
+            bridge.handshake()
+            while True:
+                reply, status = bridge.send_and_receive(my_data)
+
+    Args:
+        send_size: Number of data doubles sent to UDP each tick.
+        recv_size: Number of data doubles expected from UDP each tick.
+        remote_ip: IP address of the UDP host.
+        remote_port: UDP port Remote host listens on (Python -> Remote host).
+        local_port: UDP port Python listens on (Remote host -> Python).
+        bind_port: Local port used for sending.
+        recv_timeout: Socket timeout in seconds while waiting for a reply.
+    """
+
+    MAX_RECONNECT_ATTEMPTS = 3
+    _MAX_DESYNC_COUNT      = 5
+
+    def __init__(
+        self,
+        send_size: int,
+        recv_size: int,
+        remote_ip: str    = "127.0.0.1",
+        remote_port: int  = 25000,
+        local_port: int    = 25001,
+        bind_port: int      = 9090,
+        recv_timeout: float = 0.1,
+    ):
+        self.send_size      = send_size
+        self.recv_size      = recv_size
+        self.remote_addr  = (remote_ip, remote_port)
+        self.recv_timeout   = recv_timeout
+
+        self._sock_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self._sock_send.bind(("0.0.0.0", bind_port))
+
+        self._sock_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self._sock_recv.bind(("0.0.0.0", local_port))
+
+        self._seq           = 0
+        self._last_reply    = np.zeros((recv_size, 1))
+        self._timeout_count = 0
+        self._desync_count  = 0
+
+    # --------------------------------------------------------------------------
+    # Context manager
+    # --------------------------------------------------------------------------
+
+    def __enter__(self) -> "UDPBridge":
+        return self
+
+    def __exit__(self, *_) -> None:
+        self.close()
+
+    # --------------------------------------------------------------------------
+    # Public API
+    # --------------------------------------------------------------------------
+
+    def handshake(self, handshake_timeout: float = 0.05) -> None:
+        """Block until Remote host acknowledges the connection.
+
+        Sends ``seq=-1`` with a zero payload of ``send_size`` doubles so the
+        wire size is identical to the main loop. Resets the sequence counter
+        on success.
+
+        Args:
+            handshake_timeout: Per-attempt socket timeout in seconds.
+        """
+        print("  -> Start the Remote host now (waiting for handshake...)")
+
+        payload    = np.zeros(1 + self.send_size, dtype=np.float64)
+        payload[0] = -1.0
+
+        self._sock_recv.settimeout(handshake_timeout)
+
+        while True:
+            self._sock_send.sendto(self._pack(payload), self.remote_addr)
+            try:
+                self._sock_recv.recvfrom((self.recv_size + 1) * 8)
+                print("  Handshake OK - ready!\n")
+                break
+            except socket.timeout:
+                pass
+
+        self._seq           = 0
+        self._timeout_count = 0
+        self._desync_count  = 0
+        self._last_reply    = np.zeros((self.recv_size, 1))
+        self._sock_recv.settimeout(self.recv_timeout)
+
+    def send_and_receive(self, data: np.ndarray) -> tuple[np.ndarray, CommStatus]:
+        """Send a data vector and return the reply from Remote host.
+
+        ``data`` is silently padded with zeros or truncated to match
+        ``send_size`` if needed (a warning is emitted).
+
+        On consecutive timeouts (>= ``MAX_RECONNECT_ATTEMPTS``) or persistent
+        desyncs (>= ``_MAX_DESYNC_COUNT``), a new handshake is triggered
+        automatically.
+
+        Args:
+            data: Vector of doubles, ideally shape ``(send_size,)`` or
+                ``(send_size, 1)``.
+
+        Returns:
+            A tuple ``(reply, status)`` where ``reply`` has shape
+            ``(recv_size, 1)`` and ``status`` is one of:
+            :class:`CommStatus`.
+
+        Raises:
+            RuntimeError: If the packet received from Remote host has an
+                unexpected size (mismatch between ``recv_size`` and the
+                Remote host UDP Send block configuration).
+        """
+        data    = self._coerce_send_data(np.asarray(data, dtype=np.float64).flatten())
+        seq     = self._seq
+        payload = np.concatenate([[float(seq)], data])
+        self._sock_send.sendto(self._pack(payload), self.remote_addr)
+
+        try:
+            raw, _ = self._sock_recv.recvfrom((self.recv_size + 1) * 8)
+
+            expected = (self.recv_size + 1) * 8
+            if len(raw) != expected:
+                raise RuntimeError(
+                    f"Unexpected packet size from Remote host: got {len(raw)} bytes, "
+                    f"expected {expected}. "
+                    f"Check that recv_size={self.recv_size} matches your "
+                    f"Remote host UDP Send block."
+                )
+
+            response            = self._unpack(raw, self.recv_size + 1)
+            seq_back            = int(response[0, 0])
+            reply               = response[1:]
+            self._last_reply    = reply
+            self._timeout_count = 0
+            status              = self._sync_status(seq_back, seq)
+
+            if status == CommStatus.DESYNC:
+                self._desync_count += 1
+                self._flush_recv_buffer()
+                if self._desync_count >= self._MAX_DESYNC_COUNT:
+                    print(f"\n  {self._MAX_DESYNC_COUNT} consecutive desyncs "
+                          f"- restarting handshake...")
+                    self.handshake()
+                    return self._last_reply, CommStatus.RECONNECTED
+            else:
+                self._desync_count = 0
+
+        except socket.timeout:
+            reply = self._last_reply
+            self._timeout_count += 1
+            status = CommStatus.TIMEOUT
+
+            if self._timeout_count >= self.MAX_RECONNECT_ATTEMPTS:
+                print(f"\n  {self.MAX_RECONNECT_ATTEMPTS} consecutive timeouts "
+                      f"- restarting handshake...")
+                self.handshake()
+                return self._last_reply, CommStatus.RECONNECTED
+
+        self._seq += 1
+        return reply, status
+
+    def close(self) -> None:
+        """Release UDP sockets."""
+        self._sock_send.close()
+        self._sock_recv.close()
+
+    @property
+    def seq(self) -> int:
+        """Current sequence counter."""
+        return self._seq
+
+    # --------------------------------------------------------------------------
+    # Private helpers
+    # --------------------------------------------------------------------------
+
+    def _coerce_send_data(self, data: np.ndarray) -> np.ndarray:
+        """Pad or truncate ``data`` to ``send_size``, warning if needed."""
+        n = len(data)
+        if n == self.send_size:
+            return data
+        if n < self.send_size:
+            warnings.warn(
+                f"send_and_receive: data has {n} value(s), expected "
+                f"{self.send_size}. Padding with zeros.",
+                stacklevel=3,
+            )
+            return np.pad(data, (0, self.send_size - n))
+        warnings.warn(
+            f"send_and_receive: data has {n} value(s), expected "
+            f"{self.send_size}. Truncating to first {self.send_size}.",
+            stacklevel=3,
+        )
+        return data[: self.send_size]
+
+    def _flush_recv_buffer(self) -> None:
+        """Drain any stale packets so the next read is up to date."""
+        self._sock_recv.settimeout(0)
+        try:
+            while True:
+                self._sock_recv.recvfrom((self.recv_size + 1) * 8)
+        except (socket.timeout, BlockingIOError):
+            pass
+        finally:
+            self._sock_recv.settimeout(self.recv_timeout)
+
+    @staticmethod
+    def _pack(arr: np.ndarray) -> bytes:
+        return arr.astype(np.float64).flatten().tobytes()
+
+    @staticmethod
+    def _unpack(data: bytes, n: int) -> np.ndarray:
+        return np.frombuffer(data, dtype=np.float64).reshape(n, 1)
+
+    @staticmethod
+    def _sync_status(seq_back: int, seq: int) -> CommStatus:
+        if seq_back == seq - 1:
+            return CommStatus.OK
+        if seq_back == seq:
+            return CommStatus.OK_NO_DELAY
+        return CommStatus.DESYNC
+    
+#---------------------
+#region  Motors
+#---------------------
+
+def process_motors(shared_markers_pos: SynchronizedArray,
+                   event_frame: Event,
+                   event_measure: Event) -> None:
+    """Motor control loop bridging the remote controller and the physical motors.
+
+    Waits for frame and measure events, reads motor positions and marker data,
+    then exchanges them with the remote host to get the next command. Runs until
+    interrupted by a KeyboardInterrupt (Ctrl-C).
+
+    Args:
+        shared_markers_pos: Shared memory array holding marker positions.
+        event_frame: Event set by the camera process at each new frame.
+        event_measure: Event set when marker measurement is ready.
+    """
+    motors = setup_motors()
+
+    measure = np.zeros((prm.ny, 1))
+    command = np.zeros((prm.nu, 1))
+
+    with UDPBridge(
+        send_size     = prm.ny + prm.nu,
+        recv_size     = prm.nu,
+        remote_ip   = prm.remote_ip,
+        remote_port = prm.remote_port,
+        local_port   = prm.local_port,
+        bind_port     = prm.bind_port,
+        recv_timeout  = prm.recv_timeout,
+    ) as bridge:
+        bridge.handshake()
+        t           = time.perf_counter()
+        dt_expected = 1.0 / prm.fps
+
+        while True:
+            # ------------------------------------------------------------------
+            # Wait for new frame and measure events
+            # ------------------------------------------------------------------
+            event_frame.wait()
+            event_frame.clear()
+
+            dt_actual = time.perf_counter() - t
+            t         = time.perf_counter()
+            if abs(dt_actual - dt_expected) > 0.1 * dt_expected:
+                warnings.warn(
+                    f"[{bridge.seq:04d}] Timing drift: "
+                    f"dt={dt_actual * 1000:.1f}ms, "
+                    f"expected={dt_expected * 1000:.1f}ms",
+                    stacklevel=2,
+                )
+
+            # ------------------------------------------------------------------
+            # Read motors position and send command
+            # ------------------------------------------------------------------
+            motors_pos = get_motors_position(motors)
+            send_motors_command(motors, command)
+
+            event_measure.wait()
+            event_measure.clear()
+
+            # ------------------------------------------------------------------
+            # Read shared marker data
+            # ------------------------------------------------------------------
+            with shared_markers_pos.get_lock():
+                measure[:, 0] = shared_markers_pos[:]
+
+            # ------------------------------------------------------------------
+            # Remote host communication — compute next command
+            # ------------------------------------------------------------------
+            data            = np.vstack((measure, motors_pos))
+            command, status = bridge.send_and_receive(data)
+            if status not in (CommStatus.OK, CommStatus.OK_NO_DELAY):
+                print(f"[{bridge.seq}] {status.value}")
+
+# ------------------------------------------------------------------------------
+# Helpers
+# ------------------------------------------------------------------------------
+
+def setup_motors() -> EmioMotors:
+    """Open and return an EmioMotors instance, retrying until successful.
+
+    Returns:
+        An open EmioMotors instance.
+    """
+    motors = EmioMotors()
+    while not motors.open():
+        print("Waiting for motors to open...")
+        time.sleep(1)
+    print("Motors opened successfully.")
+    return motors
+
+
+def send_motors_command(motors: EmioMotors, command: np.ndarray) -> None:
+    """Send a command vector to the motors.
+
+    Args:
+        motors: An open EmioMotors instance.
+        command: Command vector, any shape — will be flattened.
+    """
+    command = command.flatten()
+    motors.angles = command.tolist()
+
+
+def get_motors_position(motors: EmioMotors) -> np.ndarray:
+    """Read current motor angles.
+
+    Args:
+        motors: An open EmioMotors instance.
+
+    Returns:
+        Motor positions as a column vector, shape ``(n_motors, 1)``.
+    """
+    motors_pos = np.array(motors.angles)
+    return motors_pos.reshape((-1, 1))
+
+#---------------------
+#region  Camera
+#---------------------
+def process_camera(shared_markers_pos: SynchronizedArray,
+                   event_frame: Event,
+                   event_measure: Event) -> None:
+    """Main camera loop: grab frames, track markers, and update shared state.
+
+    Sets ``event_frame`` at each new frame and ``event_measure`` once the
+    marker positions are written to ``shared_markers_pos``.
+    Stops when the user presses ``q``.
+
+    Args:
+        shared_markers_pos: Shared memory array written with marker positions.
+        event_frame: Event set at each new camera frame.
+        event_measure: Event set once marker data is ready.
+    """
+    camera = setup_camera()
+    pos = np.zeros((prm.ny, 1))
+
+    while True:
+        # get frame from camera
+        ret = camera.get_frame()
+        event_frame.set()
+        if ret:
+            pos = process_frame(camera, pos)
+
+        with shared_markers_pos.get_lock():
+            shared_markers_pos[:] = pos.flatten()
+        event_measure.set()
+
+        k = cv.waitKey(1)
+        if k == ord('q'):
+            camera.close()
+            break
+
+# ------------------------------------------------------------------------------
+# Helpers
+# ------------------------------------------------------------------------------
+def setup_camera() -> EmioCamera:
+    """Initialise and open the depth camera from ``params``.
+
+    Returns:
+        A configured, open DepthCamera instance.
+    """
+    camera = EmioCamera(
+        show=True,
+        track_markers=True,
+        compute_point_cloud=False
+        )
+    camera.fps = prm.fps
+    camera.depth_min = 0
+    camera.depth_max = 1000
+    camera.open()
+    return camera
+
+# -------------------------------------------------------
+def process_frame(camera: EmioCamera, last_pos: np.ndarray) -> np.ndarray:
+    """Extract marker positions from the current frame.
+
+    Returns ``last_pos`` unchanged if the expected number of markers is not
+    detected.
+
+    Args:
+        camera: An open, tracking-enabled DepthCamera instance.
+        last_pos: Position array returned on detection failure.
+
+    Returns:
+        Marker positions as a column vector, shape ``(ny, 1)``.
+    """
+    camera.process_frame()
+    if len(camera.trackers_pos) == prm.nb_markers:
+        if prm.side == "top":
+            pos = np.array(camera.trackers_pos).reshape(prm.nb_markers, 3).copy()
+            pos = pos.astype(np.float64)
+            return pos
+
+        elif prm.side == "front":
+            p = np.array(camera.trackers_pos_image).reshape(prm.nb_markers, 3).copy()
+            p = p.astype(np.float64)
+            p = pixel_to_mm(p, prm.depth)
+            p = camera_to_sofa_order(p)
+            return p.reshape((-1, 1))
+
+        elif prm.side == "plan":
+            trackers_projected = []
+            for pixel_pos in camera.trackers_pos_image:
+                result = camera._camera.position_estimator.camera_image_to_simulation_plane_intersection(
+                    pixel_pos[0],pixel_pos[1],prm.plane_n, prm.plane_d)
+                trackers_projected.append(result)
+            p = np.array(trackers_projected).reshape(prm.nb_markers, 3).copy()
+            p = p.astype(np.float64)
+            p = camera_to_sofa_order(p)
+            return p.reshape((-1, 1))
+
+    return last_pos
+
+# -------------------------------------------------------
+def pixel_to_mm(points: np.ndarray, depth: float) -> np.ndarray:
+    """Project pixel coordinates to millimetres using pinhole intrinsics.
+
+    Args:
+        points: Tracker positions in pixels, shape ``(n, 3)``.
+        depth: Fixed depth in mm used for the projection.
+
+    Returns:
+        Projected points in mm, shape ``(n, 3)``.
+    """
+    ppx, ppy = 319.475, 240.962
+    fx, fy = 382.605, 382.605
+    points[:, 0] = ((points[:, 0] - ppx) / fx) * depth
+    points[:, 1] = ((points[:, 1] - ppy) / fy) * depth
+    points += prm.front2top_offset
+    points = np.column_stack((points[:, 2], -points[:, 1], points[:, 0]))
+    return points.copy()
+
+# -------------------------------------------------------
+def camera_to_sofa_order(points: np.ndarray) -> np.ndarray:
+    """Reorder markers by ascending y-coordinate (SOFA convention).
+
+    Args:
+        points: Marker positions, shape ``(nb_markers, 3)``.
+
+    Returns:
+        Reordered positions as a flat array.
+    """
+    if prm.sort == "z":
+        i_sorted_z = sorted(range(prm.nb_markers), key=lambda i: points[i, 2])
+        return points[i_sorted_z].flatten()
+    else:  # sort by y
+        i_sorted_y = sorted(range(prm.nb_markers), key=lambda i: points[i, 1])
+        return points[i_sorted_y].flatten()
+    
+
+def main():
+    # shared variables
+    shared_markers_pos = multiprocessing.Array("d", prm.ny * [0.])
+
+    # shared event
+    event_frame = multiprocessing.Event()
+    event_measure = multiprocessing.Event()
+
+    # Create processes
+    p1 = multiprocessing.Process(target=process_camera, args=(
+        shared_markers_pos, event_frame, event_measure))
+
+    p2 = multiprocessing.Process(target=process_motors, args=(
+        shared_markers_pos, event_frame, event_measure))
+
+
+    p1.start()
+    p2.start()
+
+    try:
+        while True:
+            time.sleep(5)
+    except KeyboardInterrupt:
+        p1.terminate()
+        p2.terminate()
+
+        p1.join()
+        p2.join()
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/emioapi/udp_bridge/udp_bridge_params.py b/emioapi/udp_bridge/udp_bridge_params.py
new file mode 100644
index 0000000..1c3d9bd
--- /dev/null
+++ b/emioapi/udp_bridge/udp_bridge_params.py
@@ -0,0 +1,24 @@
+import numpy as np
+
+# --- Configurable settings ---
+fps = 30
+nb_markers = 1
+side = "plan"  # "top", "front"
+sort = "y"  # "y" or "z", only for front camera
+
+# UDP settings
+remote_ip    = "127.0.0.1"
+remote_port  = 25000
+local_port   = 25001
+bind_port    = 9090
+recv_timeout = 0.1
+
+# --- Fixed settings (DO NOT CHANGE) ---
+ny = 3 * nb_markers # number of measurements
+nu = 4 # number of actuators
+
+# camera settings
+depth = 249 # for front camera, 
+plane_d = 5
+plane_n = np.array([1,0,0])
+front2top_offset = np.array([-2.2, 195.8, -254])
\ No newline at end of file
diff --git a/uv.lock b/uv.lock
index f76c6c5..84bba1c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -441,14 +441,12 @@ name = "emioapi"
 version = "0.2.1"
 source = { editable = "." }
 dependencies = [
-    { name = "dynamixel-sdk" },
     { name = "dynamixelmotorsapi" },
     { name = "numpy" },
     { name = "opencv-python" },
     { name = "pillow" },
     { name = "pyrealsense2", marker = "sys_platform != 'darwin'" },
     { name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin'" },
-    { name = "pyserial" },
 ]
 
 [package.dev-dependencies]
@@ -458,14 +456,12 @@ dev = [
 
 [package.metadata]
 requires-dist = [
-    { name = "dynamixel-sdk" },
     { name = "dynamixelmotorsapi", git = "https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI?rev=release-v0.1.0" },
     { name = "numpy", specifier = "==1.26.4" },
     { name = "opencv-python" },
     { name = "pillow" },
     { name = "pyrealsense2", marker = "sys_platform != 'darwin'" },
     { name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin'" },
-    { name = "pyserial" },
 ]
 
 [package.metadata.requires-dev]

From cd6a2564657507bae6f2c4eb6bc710605c334346 Mon Sep 17 00:00:00 2001
From: HanaeRateau <hanaerateau@yahoo.fr>
Date: Thu, 7 May 2026 14:49:17 +0200
Subject: [PATCH 2/5] Introduces UDPBridgeConfig, uses sub parsers instead of
 manual args documentation

---
 emioapi/__main__.py              | 103 ++++++++++++++++++----
 emioapi/udp_bridge/udp_bridge.py | 147 +++++++++++++++++++------------
 pyproject.toml                   |   2 +-
 uv.lock                          |   2 +-
 4 files changed, 177 insertions(+), 77 deletions(-)

diff --git a/emioapi/__main__.py b/emioapi/__main__.py
index 6e08b99..a405033 100644
--- a/emioapi/__main__.py
+++ b/emioapi/__main__.py
@@ -32,25 +32,90 @@ def calibrate():
     else:
         print("Failed to open camera.")
 
+def startUDP(args):
+    """
+    Start a UDP bridge configured with the parameters found in params
+    """
+    import emioapi.udp_bridge.udp_bridge as udpBdrige
+    config = udpBdrige.UDPBridgeConfig(args.fps,
+                                args.nb_markers,
+                                args.side,
+                                args.sort,
+                                args.remote_ip,
+                                args.remote_port,
+                                args.local_port,
+                                args.bind_port,
+                                args.recv_timeout)
+    
+    print("-"*50)
+    print(f"Starting UDP bridge with config: {config}")
+    print("-"*50)
+    
+    udpBdrige.startUDPbridge(config)
 
-if __name__ == "__main__":
-    if len(sys.argv) > 1:
-        if sys.argv[1] == 'calibrate':
+
+def parse_args():
+    
+    import argparse
+    import emioapi.udp_bridge.udp_bridge_params as prm
+
+    p = argparse.ArgumentParser(
+        description="Emio API tools for Emio",
+        prog="emioapi",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter
+    )
+
+    subparsers = p.add_subparsers(
+        title="Available Commands", 
+        dest="command", 
+        required=True
+    )
+
+    # --- Subparser for 'calibrate' command ---
+    parser_calibrate = subparsers.add_parser("calibrate", help="Calibrate the Emio camera.",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+
+    # --- Subparser for 'startUDP' command ---
+    parser_udp = subparsers.add_parser("startUDP", help="Start a UDP bridge for motor/camera data.",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    
+    # Add the specific arguments needed for startUDP here
+    parser_udp.add_argument("--fps",       type=int, default=prm.fps, help="Frames per second (e.g., 30)")
+    parser_udp.add_argument("--nb_markers",  type=int, default=prm.nb_markers, help="Number of markers to process")
+    parser_udp.add_argument("--side",       choices=["top", "front", "plan"], default=prm.side, help="Camera side view")
+    parser_udp.add_argument("--sort",        choices=["y", "z"], default=prm.sort, help="Sorting axis")
+    parser_udp.add_argument("--remote_ip",    type=str, default=prm.remote_ip, help="Remote IP address")
+    parser_udp.add_argument("--remote_port",  type=int, default=prm.remote_port, help="Remote Port")
+    parser_udp.add_argument("--local_port",    type=int, default=prm.local_port, help="Local Port")
+    parser_udp.add_argument("--bind_port",      type=int, default=prm.bind_port, help="Bind port for local communication")
+    parser_udp.add_argument("--recv_timeout",  type=float, default=prm.recv_timeout, help="Receive timeout in seconds")
+
+    try:
+        # Parse the arguments
+        args = p.parse_args()
+        
+        print(f"Command chosen: {args.command}" + (f" with parameters: {vars(args)}" if args.command == "startUDP" else ""))
+
+        # Execute the function associated with the chosen command
+        if args.command == "calibrate":
             calibrate()
-        elif sys.argv[1] == 'UDPbridge':
-            import emioapi.udp_bridge.udp_bridge as udpBdrige
-            udpBdrige.main()
+        elif args.command == "startUDP":
+            startUDP(args)
         else:
-            print("Available functions from emioapi tool:")
-            for name in dir(sys.modules[__name__]):
-                if not name.startswith("_"):
-                    attr = getattr(sys.modules[__name__], name)
-                    if callable(attr):
-                        print(f"  {name} - {attr.__doc__}")
-    else:
-        print("Available functions from emioapi tool:")
-        for name in dir(sys.modules[__name__]):
-            if not name.startswith("_"):
-                attr = getattr(sys.modules[__name__], name)
-                if callable(attr):
-                    print(f"  {name} - {attr.__doc__}")
\ No newline at end of file
+            print(f"Unknown command: {args.command}")
+    except:
+        p.print_help()
+        print()
+        parser_calibrate.print_help()
+        print()
+        parser_udp.print_help()
+        pass
+
+
+if __name__ == "__main__":
+    try:
+        args = parse_args()
+    except Exception as e:
+        import traceback
+        print(f"An error happened: {traceback.format_exc()}")
\ No newline at end of file
diff --git a/emioapi/udp_bridge/udp_bridge.py b/emioapi/udp_bridge/udp_bridge.py
index cd4da7b..5038513 100644
--- a/emioapi/udp_bridge/udp_bridge.py
+++ b/emioapi/udp_bridge/udp_bridge.py
@@ -1,3 +1,4 @@
+from dataclasses import dataclass
 import socket
 import warnings
 import time
@@ -5,7 +6,6 @@
 import multiprocessing
 from multiprocessing.sharedctypes import SynchronizedArray
 from multiprocessing.synchronize import Event
-
 import numpy as np
 
 from emioapi import EmioMotors, EmioCamera
@@ -14,6 +14,40 @@
 #---------------------
 #region  UDP
 #---------------------
+@dataclass
+class UDPBridgeConfig:
+    # FPS and Marker Settings
+    fps: float
+    nb_markers: int
+    side: str  # "top" or "front"
+    sort: str  # "y" or "z", only for front camera
+
+    # UDP settings
+    remote_ip: str
+    remote_port: int
+    local_port: int
+    bind_port: int
+    recv_timeout: float
+
+    def __post_init__(self):
+        self.fps = prm.fps
+        self.nb_markers = prm.nb_markers
+        self.side = prm.side
+        self.sort = prm.sort
+        self.remote_ip = prm.remote_ip
+        self.remote_port = prm.remote_port
+        self.local_port = prm.local_port
+        self.bind_port = prm.bind_port
+        # Camera settings
+        self.depth = prm.depth
+        self.plane_d = prm.plane_d
+        self.plane_n = prm.plane_n
+        self.front2top_offset = prm.front2top_offset
+        ## ny and nu should not be changed
+        self.ny = 3 * self.nb_markers # number of measurements
+        self.nu = 4 # number of actuators
+
+    
 class CommStatus(Enum):
     """Status returned by :meth:`UDPBridge.send_and_receive`.
 
@@ -278,7 +312,8 @@ def _sync_status(seq_back: int, seq: int) -> CommStatus:
 
 def process_motors(shared_markers_pos: SynchronizedArray,
                    event_frame: Event,
-                   event_measure: Event) -> None:
+                   event_measure: Event,
+                   config: UDPBridgeConfig) -> None:
     """Motor control loop bridging the remote controller and the physical motors.
 
     Waits for frame and measure events, reads motor positions and marker data,
@@ -292,21 +327,21 @@ def process_motors(shared_markers_pos: SynchronizedArray,
     """
     motors = setup_motors()
 
-    measure = np.zeros((prm.ny, 1))
-    command = np.zeros((prm.nu, 1))
+    measure = np.zeros((config.ny, 1))
+    command = np.zeros((config.nu, 1))
 
     with UDPBridge(
-        send_size     = prm.ny + prm.nu,
-        recv_size     = prm.nu,
-        remote_ip   = prm.remote_ip,
-        remote_port = prm.remote_port,
-        local_port   = prm.local_port,
-        bind_port     = prm.bind_port,
-        recv_timeout  = prm.recv_timeout,
+        send_size     = config.ny + config.nu,
+        recv_size     = config.nu,
+        remote_ip   = config.remote_ip,
+        remote_port = config.remote_port,
+        local_port   = config.local_port,
+        bind_port     = config.bind_port,
+        recv_timeout  = config.recv_timeout
     ) as bridge:
         bridge.handshake()
         t           = time.perf_counter()
-        dt_expected = 1.0 / prm.fps
+        dt_expected = 1.0 / config.fps
 
         while True:
             # ------------------------------------------------------------------
@@ -394,7 +429,8 @@ def get_motors_position(motors: EmioMotors) -> np.ndarray:
 #---------------------
 def process_camera(shared_markers_pos: SynchronizedArray,
                    event_frame: Event,
-                   event_measure: Event) -> None:
+                   event_measure: Event,
+                   config: UDPBridgeConfig) -> None:
     """Main camera loop: grab frames, track markers, and update shared state.
 
     Sets ``event_frame`` at each new frame and ``event_measure`` once the
@@ -406,29 +442,28 @@ def process_camera(shared_markers_pos: SynchronizedArray,
         event_frame: Event set at each new camera frame.
         event_measure: Event set once marker data is ready.
     """
-    camera = setup_camera()
-    pos = np.zeros((prm.ny, 1))
+    camera = setup_camera(config)
+    pos = np.zeros((config.ny, 1))
 
     while True:
-        # get frame from camera
-        ret = camera.get_frame()
-        event_frame.set()
-        if ret:
-            pos = process_frame(camera, pos)
+        if camera.is_running:
+            ret = camera.get_frame()
+            event_frame.set()
+            if ret:
+                pos = process_frame(camera, pos, config)
 
-        with shared_markers_pos.get_lock():
-            shared_markers_pos[:] = pos.flatten()
-        event_measure.set()
-
-        k = cv.waitKey(1)
-        if k == ord('q'):
-            camera.close()
-            break
+            with shared_markers_pos.get_lock():
+                shared_markers_pos[:] = pos.flatten()
+            event_measure.set()
+        else:
+            print("Camera is not running.")
+            time.sleep(1)
+            continue
 
 # ------------------------------------------------------------------------------
 # Helpers
 # ------------------------------------------------------------------------------
-def setup_camera() -> EmioCamera:
+def setup_camera(config: UDPBridgeConfig) -> EmioCamera:
     """Initialise and open the depth camera from ``params``.
 
     Returns:
@@ -439,14 +474,14 @@ def setup_camera() -> EmioCamera:
         track_markers=True,
         compute_point_cloud=False
         )
-    camera.fps = prm.fps
+    camera.fps = config.fps
     camera.depth_min = 0
     camera.depth_max = 1000
     camera.open()
     return camera
 
 # -------------------------------------------------------
-def process_frame(camera: EmioCamera, last_pos: np.ndarray) -> np.ndarray:
+def process_frame(camera: EmioCamera, last_pos: np.ndarray, config: UDPBridgeConfig) -> np.ndarray:
     """Extract marker positions from the current frame.
 
     Returns ``last_pos`` unchanged if the expected number of markers is not
@@ -460,34 +495,34 @@ def process_frame(camera: EmioCamera, last_pos: np.ndarray) -> np.ndarray:
         Marker positions as a column vector, shape ``(ny, 1)``.
     """
     camera.process_frame()
-    if len(camera.trackers_pos) == prm.nb_markers:
-        if prm.side == "top":
-            pos = np.array(camera.trackers_pos).reshape(prm.nb_markers, 3).copy()
+    if len(camera.trackers_pos) == config.nb_markers:
+        if config.side == "top":
+            pos = np.array(camera.trackers_pos).reshape(config.nb_markers, 3).copy()
             pos = pos.astype(np.float64)
             return pos
 
-        elif prm.side == "front":
-            p = np.array(camera.trackers_pos_image).reshape(prm.nb_markers, 3).copy()
+        elif config.side == "front":
+            p = np.array(camera.trackers_pos_image).reshape(config.nb_markers, 3).copy()
             p = p.astype(np.float64)
-            p = pixel_to_mm(p, prm.depth)
-            p = camera_to_sofa_order(p)
+            p = pixel_to_mm(p, config.depth, config)
+            p = camera_to_sofa_order(p, config)
             return p.reshape((-1, 1))
 
-        elif prm.side == "plan":
+        elif config.side == "plan":
             trackers_projected = []
             for pixel_pos in camera.trackers_pos_image:
                 result = camera._camera.position_estimator.camera_image_to_simulation_plane_intersection(
-                    pixel_pos[0],pixel_pos[1],prm.plane_n, prm.plane_d)
+                    pixel_pos[0],pixel_pos[1],config.plane_n, config.plane_d)
                 trackers_projected.append(result)
-            p = np.array(trackers_projected).reshape(prm.nb_markers, 3).copy()
+            p = np.array(trackers_projected).reshape(config.nb_markers, 3).copy()
             p = p.astype(np.float64)
-            p = camera_to_sofa_order(p)
+            p = camera_to_sofa_order(p, config)
             return p.reshape((-1, 1))
 
     return last_pos
 
 # -------------------------------------------------------
-def pixel_to_mm(points: np.ndarray, depth: float) -> np.ndarray:
+def pixel_to_mm(points: np.ndarray, depth: float, config:UDPBridgeConfig) -> np.ndarray:
     """Project pixel coordinates to millimetres using pinhole intrinsics.
 
     Args:
@@ -501,12 +536,12 @@ def pixel_to_mm(points: np.ndarray, depth: float) -> np.ndarray:
     fx, fy = 382.605, 382.605
     points[:, 0] = ((points[:, 0] - ppx) / fx) * depth
     points[:, 1] = ((points[:, 1] - ppy) / fy) * depth
-    points += prm.front2top_offset
+    points += config.front2top_offset
     points = np.column_stack((points[:, 2], -points[:, 1], points[:, 0]))
     return points.copy()
 
 # -------------------------------------------------------
-def camera_to_sofa_order(points: np.ndarray) -> np.ndarray:
+def camera_to_sofa_order(points: np.ndarray, config: UDPBridgeConfig) -> np.ndarray:
     """Reorder markers by ascending y-coordinate (SOFA convention).
 
     Args:
@@ -515,17 +550,21 @@ def camera_to_sofa_order(points: np.ndarray) -> np.ndarray:
     Returns:
         Reordered positions as a flat array.
     """
-    if prm.sort == "z":
-        i_sorted_z = sorted(range(prm.nb_markers), key=lambda i: points[i, 2])
+    if config.sort == "z":
+        i_sorted_z = sorted(range(config.nb_markers), key=lambda i: points[i, 2])
         return points[i_sorted_z].flatten()
     else:  # sort by y
-        i_sorted_y = sorted(range(prm.nb_markers), key=lambda i: points[i, 1])
+        i_sorted_y = sorted(range(config.nb_markers), key=lambda i: points[i, 1])
         return points[i_sorted_y].flatten()
     
 
-def main():
+#---------------------
+#region  Start UDP bridge
+#---------------------
+def startUDPbridge(config: UDPBridgeConfig):
+
     # shared variables
-    shared_markers_pos = multiprocessing.Array("d", prm.ny * [0.])
+    shared_markers_pos = multiprocessing.Array("d", config.ny * [0.])
 
     # shared event
     event_frame = multiprocessing.Event()
@@ -533,10 +572,10 @@ def main():
 
     # Create processes
     p1 = multiprocessing.Process(target=process_camera, args=(
-        shared_markers_pos, event_frame, event_measure))
+        shared_markers_pos, event_frame, event_measure, config))
 
     p2 = multiprocessing.Process(target=process_motors, args=(
-        shared_markers_pos, event_frame, event_measure))
+        shared_markers_pos, event_frame, event_measure, config))
 
 
     p1.start()
@@ -551,7 +590,3 @@ def main():
 
         p1.join()
         p2.join()
-
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index 7246d42..3366ddc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -10,10 +10,10 @@ readme = "README.md"
 dependencies = [
     "pyrealsense2; platform_system != 'Darwin'",
     "pyrealsense2-macosx; platform_system == 'Darwin'",
-    "opencv-python",
     "numpy==1.26.4",
     "pillow",
     "dynamixelmotorsapi @ git+https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI@main",
+    "opencv-python>=4.11.0.86",
 ]
 description = "An API for controlling  the motors of the EMIO robot."
 keywords = ["roboticsc", "emio", "api"]
diff --git a/uv.lock b/uv.lock
index 84bba1c..20ca9f5 100644
--- a/uv.lock
+++ b/uv.lock
@@ -458,7 +458,7 @@ dev = [
 requires-dist = [
     { name = "dynamixelmotorsapi", git = "https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI?rev=release-v0.1.0" },
     { name = "numpy", specifier = "==1.26.4" },
-    { name = "opencv-python" },
+    { name = "opencv-python", specifier = ">=4.11.0.86" },
     { name = "pillow" },
     { name = "pyrealsense2", marker = "sys_platform != 'darwin'" },
     { name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin'" },

From 8cdbf14c12efad00c2a336ea3efb811187019f94 Mon Sep 17 00:00:00 2001
From: HanaeRateau <hanaerateau@yahoo.fr>
Date: Mon, 11 May 2026 09:48:36 +0200
Subject: [PATCH 3/5] adds print with port binding  when waiting for handshake

---
 emioapi/udp_bridge/udp_bridge.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/emioapi/udp_bridge/udp_bridge.py b/emioapi/udp_bridge/udp_bridge.py
index 5038513..3018175 100644
--- a/emioapi/udp_bridge/udp_bridge.py
+++ b/emioapi/udp_bridge/udp_bridge.py
@@ -151,7 +151,10 @@ def handshake(self, handshake_timeout: float = 0.05) -> None:
         Args:
             handshake_timeout: Per-attempt socket timeout in seconds.
         """
+        print("-"*50)
+        print(f"UDP bridge listening port {self._sock_recv.getsockname()[1]} and sending commands to {self.remote_addr[0]}:{self.remote_addr[1]} through port {self._sock_send.getsockname()[1]}.\n")
         print("  -> Start the Remote host now (waiting for handshake...)")
+        print("-"*50)
 
         payload    = np.zeros(1 + self.send_size, dtype=np.float64)
         payload[0] = -1.0
@@ -340,9 +343,10 @@ def process_motors(shared_markers_pos: SynchronizedArray,
         recv_timeout  = config.recv_timeout
     ) as bridge:
         bridge.handshake()
-        t           = time.perf_counter()
+        t = time.perf_counter()
         dt_expected = 1.0 / config.fps
 
+
         while True:
             # ------------------------------------------------------------------
             # Wait for new frame and measure events

From d8a666b2b60d13b021a0a174c5e57b0b98a38984 Mon Sep 17 00:00:00 2001
From: HanaeRateau <hanaerateau@yahoo.fr>
Date: Mon, 11 May 2026 16:02:55 +0200
Subject: [PATCH 4/5] Adds docstring to help, renames args for command line,
 fixes default parameters overwrite, fixes time drifting detection

---
 emioapi/__main__.py              |   50 +-
 emioapi/udp_bridge/udp_bridge.py |   36 +-
 pyproject.toml                   |    4 +-
 uv.lock                          | 1465 +-----------------------------
 4 files changed, 63 insertions(+), 1492 deletions(-)

diff --git a/emioapi/__main__.py b/emioapi/__main__.py
index a405033..9355f15 100644
--- a/emioapi/__main__.py
+++ b/emioapi/__main__.py
@@ -2,7 +2,7 @@
 
 def calibrate():
     """
-    Calibrate the camera of the first Emio camera found
+    Calibrate the camera of the first Emio camera found. For more informations about the calibration process, please refer to the EmioCamera.calibrate() method documentation.
     """
     import emioapi
     from emioapi._logging_config import logger 
@@ -34,19 +34,30 @@ def calibrate():
 
 def startUDP(args):
     """
-    Start a UDP bridge configured with the parameters found in params
+    Start a UDP bridge configured with the parameters found in args. 
+
+    A handshake is done at the beginning to ensure that the remote host is ready to receive data. It shold follow the same protocol describded below with dummy data.
+
+    The sequence number is a simple counter that is incremented at each frame. It is used by the process_motors process to make sure that the remote is synchronized.
+    
+    The protocol is as follows:
+    - The bridge sends a packet made of a sequence number and followed by the marker(s) position(s) and the four motors posiitons
+    - The remote host should reply with a packet containing the four motors positions to send to the Emio.
+
     """
     import emioapi.udp_bridge.udp_bridge as udpBdrige
-    config = udpBdrige.UDPBridgeConfig(args.fps,
-                                args.nb_markers,
-                                args.side,
-                                args.sort,
-                                args.remote_ip,
-                                args.remote_port,
-                                args.local_port,
-                                args.bind_port,
-                                args.recv_timeout)
-    
+    config = udpBdrige.UDPBridgeConfig(
+        fps = args.fps,
+        nb_markers = args.nb_markers,
+        side = args.side,
+        sort = args.sort,
+        remote_ip = args.remote_ip,
+        remote_port = args.remote_port,
+        local_port = args.local_port,
+        bind_port = args.bind_port,
+        recv_timeout = args.recv_timeout
+    )
+
     print("-"*50)
     print(f"Starting UDP bridge with config: {config}")
     print("-"*50)
@@ -74,22 +85,25 @@ def parse_args():
     # --- Subparser for 'calibrate' command ---
     parser_calibrate = subparsers.add_parser("calibrate", help="Calibrate the Emio camera.",
         formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser_calibrate.description = calibrate.__doc__
 
 
     # --- Subparser for 'startUDP' command ---
     parser_udp = subparsers.add_parser("startUDP", help="Start a UDP bridge for motor/camera data.",
         formatter_class=argparse.ArgumentDefaultsHelpFormatter)
     
+    parser_udp.description = startUDP.__doc__
+    
     # Add the specific arguments needed for startUDP here
     parser_udp.add_argument("--fps",       type=int, default=prm.fps, help="Frames per second (e.g., 30)")
-    parser_udp.add_argument("--nb_markers",  type=int, default=prm.nb_markers, help="Number of markers to process")
+    parser_udp.add_argument("--nb-markers",  type=int, default=prm.nb_markers, help="Number of markers to process")
     parser_udp.add_argument("--side",       choices=["top", "front", "plan"], default=prm.side, help="Camera side view")
     parser_udp.add_argument("--sort",        choices=["y", "z"], default=prm.sort, help="Sorting axis")
-    parser_udp.add_argument("--remote_ip",    type=str, default=prm.remote_ip, help="Remote IP address")
-    parser_udp.add_argument("--remote_port",  type=int, default=prm.remote_port, help="Remote Port")
-    parser_udp.add_argument("--local_port",    type=int, default=prm.local_port, help="Local Port")
-    parser_udp.add_argument("--bind_port",      type=int, default=prm.bind_port, help="Bind port for local communication")
-    parser_udp.add_argument("--recv_timeout",  type=float, default=prm.recv_timeout, help="Receive timeout in seconds")
+    parser_udp.add_argument("--remote-ip",    type=str, default=prm.remote_ip, help="Remote IP address")
+    parser_udp.add_argument("--remote-port",  type=int, default=prm.remote_port, help="Remote Port")
+    parser_udp.add_argument("--local-port",    type=int, default=prm.local_port, help="Local Port")
+    parser_udp.add_argument("--bind-port",      type=int, default=prm.bind_port, help="Bind port for local communication")
+    parser_udp.add_argument("--recv-timeout",  type=float, default=prm.recv_timeout, help="Receive timeout in seconds")
 
     try:
         # Parse the arguments
diff --git a/emioapi/udp_bridge/udp_bridge.py b/emioapi/udp_bridge/udp_bridge.py
index 3018175..4c96e92 100644
--- a/emioapi/udp_bridge/udp_bridge.py
+++ b/emioapi/udp_bridge/udp_bridge.py
@@ -30,14 +30,15 @@ class UDPBridgeConfig:
     recv_timeout: float
 
     def __post_init__(self):
-        self.fps = prm.fps
-        self.nb_markers = prm.nb_markers
-        self.side = prm.side
-        self.sort = prm.sort
-        self.remote_ip = prm.remote_ip
-        self.remote_port = prm.remote_port
-        self.local_port = prm.local_port
-        self.bind_port = prm.bind_port
+        self.fps = prm.fps if self.fps is None else self.fps
+        self.nb_markers = prm.nb_markers if self.nb_markers is None else self.nb_markers
+        self.side = prm.side if self.side is None else self.side
+        self.sort = prm.sort if self.sort is None else self.sort
+        self.remote_ip = prm.remote_ip if self.remote_ip is None else self.remote_ip
+        self.remote_port = prm.remote_port if self.remote_port is None else self.remote_port
+        self.local_port = prm.local_port if self.local_port is None else self.local_port
+        self.bind_port = prm.bind_port if self.bind_port is None else self.bind_port
+        self.recv_timeout = prm.recv_timeout if self.recv_timeout is None else self.recv_timeout
         # Camera settings
         self.depth = prm.depth
         self.plane_d = prm.plane_d
@@ -154,7 +155,6 @@ def handshake(self, handshake_timeout: float = 0.05) -> None:
         print("-"*50)
         print(f"UDP bridge listening port {self._sock_recv.getsockname()[1]} and sending commands to {self.remote_addr[0]}:{self.remote_addr[1]} through port {self._sock_send.getsockname()[1]}.\n")
         print("  -> Start the Remote host now (waiting for handshake...)")
-        print("-"*50)
 
         payload    = np.zeros(1 + self.send_size, dtype=np.float64)
         payload[0] = -1.0
@@ -166,6 +166,7 @@ def handshake(self, handshake_timeout: float = 0.05) -> None:
             try:
                 self._sock_recv.recvfrom((self.recv_size + 1) * 8)
                 print("  Handshake OK - ready!\n")
+                print("-"*50)
                 break
             except socket.timeout:
                 pass
@@ -355,8 +356,8 @@ def process_motors(shared_markers_pos: SynchronizedArray,
             event_frame.clear()
 
             dt_actual = time.perf_counter() - t
-            t         = time.perf_counter()
-            if abs(dt_actual - dt_expected) > 0.1 * dt_expected:
+            t = time.perf_counter()
+            if (dt_actual - dt_expected) > 0.1 * dt_expected:
                 warnings.warn(
                     f"[{bridge.seq:04d}] Timing drift: "
                     f"dt={dt_actual * 1000:.1f}ms, "
@@ -367,8 +368,8 @@ def process_motors(shared_markers_pos: SynchronizedArray,
             # ------------------------------------------------------------------
             # Read motors position and send command
             # ------------------------------------------------------------------
-            motors_pos = get_motors_position(motors)
-            send_motors_command(motors, command)
+            motors_pos = get_motors_position(motors) # read current motors position to send to remote host
+            send_motors_command(motors, command) # apply the previous received command from remote to motors
 
             event_measure.wait()
             event_measure.clear()
@@ -566,6 +567,15 @@ def camera_to_sofa_order(points: np.ndarray, config: UDPBridgeConfig) -> np.ndar
 #region  Start UDP bridge
 #---------------------
 def startUDPbridge(config: UDPBridgeConfig):
+    """
+    Start a UDP bridge configured with the parameters found in args. 
+
+    A handshake is done at the beginning to ensure that the remote host is ready to receive data. It shold follow the same protocol describded below with dummy data.
+    
+    The protocol is as follows:
+    - The bridge sends a packet made of a sequence number and followed by the marker(s) position(s) and the four motors posiitons
+    - The remote host should reply with a packet containing the four motors positions to send to the Emio.
+    """
 
     # shared variables
     shared_markers_pos = multiprocessing.Array("d", config.ny * [0.])
diff --git a/pyproject.toml b/pyproject.toml
index 3366ddc..d4263ff 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "emioapi"
 version = "0.2.1"
-requires-python = ">=3.10"
+requires-python = ">=3.10.10"
 readme = "README.md"
 dependencies = [
     "pyrealsense2; platform_system != 'Darwin'",
@@ -73,7 +73,7 @@ Function = 3
 Data = 3
 
 [tool.uv.sources]
-dynamixelmotorsapi = { git = "https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI", rev = "release-v0.1.0" }
+dynamixelmotorsapi = { git = "https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI", rev = "release-main" }
 
 [dependency-groups]
 dev = [
diff --git a/uv.lock b/uv.lock
index 20ca9f5..129fe6a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,6 +1,6 @@
 version = 1
 revision = 2
-requires-python = ">=3.10"
+requires-python = ">=3.10.10"
 resolution-markers = [
     "python_full_version >= '3.12' and sys_platform == 'darwin'",
     "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
@@ -13,144 +13,12 @@ resolution-markers = [
     "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
-[[package]]
-name = "beautifulsoup4"
-version = "4.14.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "soupsieve" },
-    { name = "typing-extensions" },
-]
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-name = "certifi"
-version = "2026.2.25"
-source = { registry = "https://pypi.org/simple" }
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-
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From 6f9bcd9bb3f8577a41e6f2f7c4edd75f6f79c029 Mon Sep 17 00:00:00 2001
From: HanaeRateau <hanaerateau@yahoo.fr>
Date: Mon, 11 May 2026 19:16:17 +0200
Subject: [PATCH 5/5] Adds camera and motors only options to startUDP

---
 emioapi/__main__.py              |  6 +++++-
 emioapi/udp_bridge/udp_bridge.py | 37 +++++++++++++++++++++++---------
 2 files changed, 32 insertions(+), 11 deletions(-)

diff --git a/emioapi/__main__.py b/emioapi/__main__.py
index 9355f15..fa8147c 100644
--- a/emioapi/__main__.py
+++ b/emioapi/__main__.py
@@ -55,7 +55,9 @@ def startUDP(args):
         remote_port = args.remote_port,
         local_port = args.local_port,
         bind_port = args.bind_port,
-        recv_timeout = args.recv_timeout
+        recv_timeout = args.recv_timeout,
+        camera_only = args.camera_only,
+        motors_only = args.motors_only
     )
 
     print("-"*50)
@@ -104,6 +106,8 @@ def parse_args():
     parser_udp.add_argument("--local-port",    type=int, default=prm.local_port, help="Local Port")
     parser_udp.add_argument("--bind-port",      type=int, default=prm.bind_port, help="Bind port for local communication")
     parser_udp.add_argument("--recv-timeout",  type=float, default=prm.recv_timeout, help="Receive timeout in seconds")
+    parser_udp.add_argument("--camera-only",  action=argparse.BooleanOptionalAction, default=False, help="Only send the markers position without waiting for the motors command. The motors positions will be sent as 0. And no command will be applied to the motors.")
+    parser_udp.add_argument("--motors-only",  action=argparse.BooleanOptionalAction, default=False, help="Only send the motors position without waiting for the camera data")
 
     try:
         # Parse the arguments
diff --git a/emioapi/udp_bridge/udp_bridge.py b/emioapi/udp_bridge/udp_bridge.py
index 4c96e92..8c9b720 100644
--- a/emioapi/udp_bridge/udp_bridge.py
+++ b/emioapi/udp_bridge/udp_bridge.py
@@ -28,6 +28,8 @@ class UDPBridgeConfig:
     local_port: int
     bind_port: int
     recv_timeout: float
+    camera_only: bool = False
+    motors_only: bool = False
 
     def __post_init__(self):
         self.fps = prm.fps if self.fps is None else self.fps
@@ -39,6 +41,8 @@ def __post_init__(self):
         self.local_port = prm.local_port if self.local_port is None else self.local_port
         self.bind_port = prm.bind_port if self.bind_port is None else self.bind_port
         self.recv_timeout = prm.recv_timeout if self.recv_timeout is None else self.recv_timeout
+        self.camera_only = prm.camera_only if self.camera_only is None else self.camera_only
+        self.motors_only = prm.motors_only if self.motors_only is None else self.motors_only
         # Camera settings
         self.depth = prm.depth
         self.plane_d = prm.plane_d
@@ -329,7 +333,8 @@ def process_motors(shared_markers_pos: SynchronizedArray,
         event_frame: Event set by the camera process at each new frame.
         event_measure: Event set when marker measurement is ready.
     """
-    motors = setup_motors()
+    if not config.camera_only:
+        motors = setup_motors()
 
     measure = np.zeros((config.ny, 1))
     command = np.zeros((config.nu, 1))
@@ -347,13 +352,16 @@ def process_motors(shared_markers_pos: SynchronizedArray,
         t = time.perf_counter()
         dt_expected = 1.0 / config.fps
 
+        if config.camera_only and config.motors_only:
+            print("Warning: both camera_only and motors_only are True. The bridge will run but no data will be sent to the remote host.")
 
         while True:
             # ------------------------------------------------------------------
             # Wait for new frame and measure events
             # ------------------------------------------------------------------
-            event_frame.wait()
-            event_frame.clear()
+            if not config.motors_only:
+                event_frame.wait()
+                event_frame.clear()
 
             dt_actual = time.perf_counter() - t
             t = time.perf_counter()
@@ -368,17 +376,22 @@ def process_motors(shared_markers_pos: SynchronizedArray,
             # ------------------------------------------------------------------
             # Read motors position and send command
             # ------------------------------------------------------------------
-            motors_pos = get_motors_position(motors) # read current motors position to send to remote host
-            send_motors_command(motors, command) # apply the previous received command from remote to motors
-
-            event_measure.wait()
-            event_measure.clear()
+            if config.camera_only:
+                motors_pos = np.zeros((config.nu, 1))
+            else:    
+                motors_pos = get_motors_position(motors) # read current motors position to send to remote host
+                send_motors_command(motors, command) # apply the previous received command from remote to motors
 
             # ------------------------------------------------------------------
             # Read shared marker data
             # ------------------------------------------------------------------
-            with shared_markers_pos.get_lock():
-                measure[:, 0] = shared_markers_pos[:]
+            if not config.motors_only:
+                event_measure.wait()
+                event_measure.clear()
+                with shared_markers_pos.get_lock():
+                    measure[:, 0] = shared_markers_pos[:]
+            else:
+                measure = np.zeros((config.ny, 1))
 
             # ------------------------------------------------------------------
             # Remote host communication — compute next command
@@ -447,6 +460,10 @@ def process_camera(shared_markers_pos: SynchronizedArray,
         event_frame: Event set at each new camera frame.
         event_measure: Event set once marker data is ready.
     """
+    if config.motors_only:
+        print("Camera process is running in motors_only mode: it will not read the camera or update the shared marker positions.")
+        return
+
     camera = setup_camera(config)
     pos = np.zeros((config.ny, 1))