@rainbow-robotics/muscat-plugin-kit 1.1.5 → 1.2.1

package/cli/storybook-dist/iframe.html

@@ -509,7 +509,7 @@
   }
 </script>
 
-    <script type="module" crossorigin src="./assets/iframe-BwCxSq5d.js"></script>
+    <script type="module" crossorigin src="./assets/iframe-Ci_IjEPD.js"></script>
   </head>
 
   <body>

package/cli/storybook-dist/project.json

@@ -1 +1 @@
-{"generatedAt":1787013792240,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}
+{"generatedAt":1787300984646,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}

package/cli/templates/common/README.md

@@ -439,29 +439,202 @@ ctx = PluginProgramContext(plugin_id="my-plugin")
 
 @ctx.on_execute
 async def handle(args: dict) -> None:
-    message = args.get("message", "")
-    print(f"[my-plugin] execute called: message={message}", flush=True)
+    """Called once when my Step executes. Variable writes apply to the
+    running program immediately + broadcast to other robots' main tasks."""
+    count = await ctx.get_variable("counter")          # read an existing program variable
+    await ctx.set_variable("counter", count + 1)       # update an existing variable — allowed
+    await ctx.set_variable("RBP_TEST", 1)              # NEW variables must start with RBP_
 
-    # check stop/pause during long-running work
-    for _ in range(10):
-        await ctx.check_stop()
-        await asyncio.sleep(0.1)
+    for i in range(100):
+        await ctx.check_stop()   # auto-scoped to this Step's robot model
+        await asyncio.sleep(0.5)
 
-    # read a program variable
-    counter = await ctx.get_variable("counter")
-    print(f"[my-plugin] counter={counter}", flush=True)
+    await ctx.done()
 
-    # update a variable
-    await ctx.set_variable("result", f"done: {message}")
 
-    # finish the step
-    await ctx.done()
+async def background_monitor() -> None:
+    """Resident task outside any Step. If no program is running,
+    get returns None and set is silently ignored — always safe to call."""
+    while True:
+        await asyncio.sleep(1.0)
 
+        # targets every running main task (no robot_model param — always broadcast)
+        await ctx.set_variable("RBP_TEST", 3)
 
-if __name__ == "__main__":
-    asyncio.run(ctx.start())
+        # get options
+        v1 = await ctx.get_variable("counter")                           # first value found in the whole tree
+        v2 = await ctx.get_variable("counter", robot_model="C500920")    # a specific robot
+        v3 = await ctx.get_variable("RBP_TEST", plugin_id="my-plugin")   # the value my-plugin last wrote
+
+        if ctx.executor_state("C500920") == "paused":
+            print("C500920 program is paused")
+
+
+async def main() -> None:
+    asyncio.create_task(background_monitor())
+    await ctx.start()  # stays resident
+
+
+asyncio.run(main())
+```
+
+#### Program variables & executor state (`PluginProgramContext`)
+
+`rainbow.rb_sdk.PluginProgramContext` lets the plugin process interact with the
+running program (PyFM): read/write program variables and observe execution
+state — inside a Step handler or from a resident task, at any time.
+
+- The `on_execute` handler is called **only when PyFM executes this plugin's
+  Step**. One Step execution = one handler call, and the Step does not finish
+  until you call `ctx.done()` — always call it.
+- The plugin process itself stays resident after `ctx.start()`; executor state
+  queries and variable access below keep working whether or not a Step is
+  executing.
+
+#### Variable naming rules (important)
+
+PyFM variables are a **program-wide shared namespace**. One rule:
+
+- **Modifying an existing variable** — the name passes as-is. Exchanging
+  variables between the program and the plugin is the intended usage.
+- **Creating a variable that doesn't exist** — the `RBP_` prefix is
+  **required** (enforced by the SDK/server; a violation raises
+  `RuntimeError`). Applies equally inside and outside Step execution.
+
+For new variable names, a convention that includes the plugin id is strongly
+recommended:
+
+```
+RBP_{plugin_id}_{name}
+
+e.g. RBP_vision_detect_count, RBP_gripper_last_error
+```
+
+Why:
+
+- `RBP_` — instantly identifies plugin-created variables in the program
+  editor/UI.
+- `{plugin_id}` — **prevents name collisions with other plugins.** If two
+  plugins use the same name they overwrite the same variable (`RBP_` alone is
+  not something the SDK guards against).
+
+#### Reading / writing variables
+
+```python
+value = await ctx.get_variable("counter")                 # read (no name restriction)
+await ctx.set_variable("counter", value + 1)              # modify existing variable — allowed
+await ctx.set_variable("RBP_my-plugin_result", 42)        # create new variable — RBP_ required
+```
+
+`set_variable` always applies to **every running main task** (a plugin belongs
+to muscat, not to a specific robot — there is no `robot_model` parameter):
+
+| When | Own program | Other robots' main tasks |
+|---|---|---|
+| During own Step execution | via the control queryable — **immediate** | broadcast — each at its next Step boundary |
+| Outside a Step (resident task, …) | resident endpoint — next Step boundary | same |
+
+`get_variable` has options:
+
+```python
+await ctx.get_variable("counter")                          # search all main tasks (first value found)
+await ctx.get_variable("counter", robot_model="C500920")   # a specific robot's value
+await ctx.get_variable("RBP_TEST", plugin_id="A.plugin")   # the value that plugin last wrote
+```
+
+Caveats:
+
+- If no program is running, `set_variable` is **silently ignored** and
+  `get_variable` returns `None`. (`RuntimeError` is raised only for real
+  errors, like the `RBP_` violation on a new variable — the message is tagged
+  `[plugin:{id}]` with the offending plugin.)
+- Rarely, a write can be lost if it races the worker's variable flush
+  (lock-free read-modify-write). For important values, re-check and retry on
+  the next cycle.
+
+#### Per-plugin value storage (meta)
+
+Besides the shared value, each variable entry records which plugin last wrote
+what:
+
+```python
+# state_dict["variables"] — after A wrote 1 and B wrote 2
+"RBP_TEST": {
+    "value": 2,                                # shared slot = last written value
+    "type": "local",
+    "meta": {"writers": {"A.plugin": 1, "B.plugin": 2}},   # per-plugin record
+}
+```
+
+So the exact value is recoverable even when names collide:
+
+- Plugin SDK: `ctx.get_variable("RBP_TEST", plugin_id="A.plugin")` → `1`
+- Program step expression: `COUNT = get_var("A.plugin", "RBP_TEST") + 1` → `2`
+- A plain name (`RBP_TEST += 1`) uses the shared slot (last written value) → `3`
+
+#### Executor state
+
+Subscribes to the `muscat/executor/state` publish (0.8 s interval) and exposes
+per-robot-model state:
+
+```python
+ctx.executor_state("C500920")   # "running" | "paused" | "waiting" | ... | None
+ctx.executor_state()            # {"C500920": "paused", "amr": "running"}
+ctx.is_paused("C500920")        # whether that model is paused
+ctx.is_stopped("C500920")       # stop/error transition of a model seen active this run
+```
+
+- States: `idle | running | paused | waiting | stopped | post_start | completed | error`
+- A model with no running task is `None` / absent from the dict.
+- The publish interval is 0.8 s, so expect up to ~1 s of latency.
+- With `IS_DEV=true` there is no publish at all — always `None`.
+
+To get a callback at the moment the state changes, without polling:
+
+```python
+@ctx.on_executor_state_change
+async def on_change(robot_model: str, state: str) -> None:
+    if state == "paused":
+        print(f"{robot_model} paused")
+```
+
+- Not called for repeated publishes of the same state — fires exactly once
+  per per-model state change.
+- An exception in the handler is only logged; state tracking keeps running.
+
+#### Responding to pause / stop
+
+```python
+@ctx.on_execute
+async def handle(args: dict) -> None:
+    for i in range(100):
+        # stop → CancelledError (propagated to the executor as a stop),
+        # pause → waits here until resumed.
+        # Inside on_execute this automatically watches only the robot model
+        # executing this Step.
+        await ctx.check_stop()
+
+        ...  # actual work
+        await asyncio.sleep(0.5)
+
+    await ctx.done()
 ```
 
+Scope priority for `check_stop` / `is_paused` / `is_stopped`:
+
+1. `robot_model` given — that model only
+2. Omitted inside `on_execute` — **only the model executing this Step**
+   (passed in by the executor)
+3. Omitted elsewhere (resident task, …) — all models
+
+A handler doing long-running work must call `check_stop()` every loop
+iteration so it reacts to pause/stop immediately. Without it, the plugin keeps
+running even after the operator presses Stop.
+
+Variables your plugin wants the Program page variable picker to offer must be
+pre-declared in `manifest.json` under `"variables"` (see the manifest section
+below).
+
 ### C++
 
 C++ plugins use `cpp/` and are built with CMake inside Docker. The current C++
@@ -588,6 +761,15 @@ public:
     }
   ],
 
+  // optional: variables this plugin exposes to pyfm programs — the Program
+  // page variable picker lists ONLY declared variables. name must start with
+  // RBP_; description is optional but without it the UI can't explain the
+  // variable, so write one.
+  "variables": [
+    { "name": "RBP_grip_force", "type": "number", "init": 0.5, "description": { "ko": "그리퍼 힘", "en": "Gripper force" } },
+    { "name": "RBP_target_pose", "type": "array", "init": [0, 0, 0] }
+  ],
+
   // runtime — one of:
   //   { "type": "none" }
   //   { "type": "python", "entry": "main.py" }
@@ -654,15 +836,36 @@ public:
 - `commandInfo` — required when `point` is `"program.panel"`
 - `ports` — optional `number[]`; every port must be within `28600-28999`
   and must not be a reserved robot/industrial/internal port
+- `variables` — optional array of `{ name, type, init, description? }`:
+  - `name` — must start with `RBP_`, then letters/digits/underscore; unique per plugin
+  - `type` — `"number" | "string" | "array"`
+  - `init` — required initial value, must match `type`
+  - `description` — optional `string` or i18n object (`en` required in object form)
 
-`muscat-pk build` throws on any validation error. `muscat-pk dev` prints warnings.
+`muscat-pk build` throws on any validation error. `muscat-pk dev` prints
+warnings — except `variables` errors (e.g. a name without the `RBP_` prefix),
+which are hard errors in `dev` / `dev:back` too.
 
 **Backend port rules:**
 - Declare a port only if your backend opens a TCP server/listener.
-- `muscat-pk dev` and `muscat-pk dev:back` stop the backend if it opens an
-  undeclared managed port.
+- **Every listening TCP port must be declared.** `muscat-pk dev` and
+  `muscat-pk dev:back` watch the backend and stop it the moment it opens a port
+  that is not in `ports`. A port outside `28600-28999` can't be declared, so it
+  must not be opened either — picking e.g. `5500` is not a way around the rule.
+  It would escape this check *and* the robot's install-time conflict check, and
+  only collide once it's running on a robot.
 - Reserved ports include `502`, `2222`, `4840`, `5170-5179`, `8000-8999`,
   `10000`, `30004`, `34964`, `44818`, `50000-50005`, and `50051`.
+- The robot rejects installation (HTTP 409) if a declared port is reserved,
+  out of range, or already claimed by another enabled plugin.
+
+**Reaching your backend's ports during development:**
+- Declared ports are published to `127.0.0.1` on your machine, so
+  `curl http://127.0.0.1:28600` works from the host on macOS, Windows, and Linux.
+- On native Linux the dev container uses host networking, so the ports are on
+  the host already.
+- If a declared port is already taken on your machine, `muscat-pk dev` warns and
+  skips publishing that one — the backend still listens inside the container.
 
 ---
 
@@ -760,7 +963,14 @@ it works out of the box:
 }
 ```
 
-**Codex** — add to `~/.codex/config.toml`:
+**Codex** — register once with:
+
+```bash
+muscat-pk mcp --install codex
+```
+
+This appends the server to `~/.codex/config.toml` (idempotent — safe to run
+again). Equivalent manual config:
 
 ```toml
 [mcp_servers.muscat]

package/cli/templates/common/manifest.json

@@ -21,5 +21,6 @@
       "opens": "popover"
     }
   ],
+  "variables": [],
   "runtime": { "type": "__RUNTIME_TYPE__", "entry": "main.py" }
 }

package/cli/templates/common/requirements.txt

@@ -1,4 +1,4 @@
-rainbow-rb-sdk==0.0.79
-rainbow-rb-flat-buffers==0.0.79
-rainbow-rb-zenoh==0.0.79
+rainbow-rb-sdk==0.1.0
+rainbow-rb-flat-buffers==0.1.0
+rainbow-rb-zenoh==0.1.0
 requests==2.34.2

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.1.5",
+  "version": "1.2.1",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -53,8 +53,8 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.1.5",
-    "@rainbow-robotics/preview-host": "1.1.5",
+    "@rainbow-robotics/plugin-ui": "1.2.1",
+    "@rainbow-robotics/preview-host": "1.2.1",
     "postcss": "^8.5.8",
     "socket.io": "^4.8.1",
     "typescript": "^5.8.0",

package/cli/storybook-dist/assets/Docs-DLFwGiks.js

@@ -1,7 +0,0 @@
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