machine-logic-sdk 3.0.0__tar.gz → 3.0.2__tar.gz

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: machine-logic-sdk
-Version: 3.0.0
+Version: 3.0.2
 Summary: SDK for controlling Vention hardware
 License: Proprietary
 Keywords: Vention,MachineLogic,SDK,Robot,Automation
@@ -22,7 +22,7 @@ Requires-Dist: toml (>=0.10,<0.11)
 Requires-Dist: typing_extensions (>=4.8,<5.0)
 Requires-Dist: urllib3 (>=2.6.3)
 Requires-Dist: uv (>=0.6,<0.7)
-Requires-Dist: vention-firmware-grpc-client (==0.0.2)
+Requires-Dist: vention-firmware-grpc-client (==0.1.1)
 Project-URL: Documentation, https://vention.io/resources/guides/machinelogic-python-programming-514
 Description-Content-Type: text/markdown
 
@@ -61,7 +61,7 @@ pip install machine-logic-sdk
 ## Compatibility:
 
 Please pay close attention to the compatibility table provided in the [Official machine-logic-sdk Documentation](https://docs.vention.io/docs/en/vention-python-api)
-to determine which version of the sdk is compatible with your version of MachineMotion
+to determine which version of the sdk is compatible with your version of MachineMotion.
 
 For development installations, see the [Development](#development) section below.
 

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/README.md

@@ -33,7 +33,7 @@ pip install machine-logic-sdk
 ## Compatibility:
 
 Please pay close attention to the compatibility table provided in the [Official machine-logic-sdk Documentation](https://docs.vention.io/docs/en/vention-python-api)
-to determine which version of the sdk is compatible with your version of MachineMotion
+to determine which version of the sdk is compatible with your version of MachineMotion.
 
 For development installations, see the [Development](#development) section below.
 

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/ivention/idigital_input.py

@@ -24,6 +24,10 @@ class IDigitalInput(ABC):
     """
     A software representation of an DigitalInput. It is not recommended that you
     construct this object yourself. Rather, you should query it from a Machine instance.
+    DigitalInput peripherals can be connected to the controller via the following devices:
+    - IO Module
+    - Push Button Module
+    - Conveyor Motor
     """
 
     def __init__(self, configuration: DigitalInputConfiguration) -> None:

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/ivention/idigital_io_shared.py

@@ -1,4 +1,5 @@
 from abc import ABC
+from typing import Literal
 
 
 class DigitalIOState:
@@ -37,7 +38,7 @@ class DigitalIOConfiguration(ABC):
         device_id: int,
         controller_id: str,
         controller_port: int,
-        pin: int,
+        pin: int | Literal["A", "B"],
         active_high: bool,
     ) -> None:
         self._uuid: str = uuid
@@ -45,7 +46,7 @@ class DigitalIOConfiguration(ABC):
         self._device_id: int = device_id
         self._controller_id: str = controller_id
         self._controller_port: int = controller_port
-        self._pin: int = pin
+        self._pin: int | Literal["A", "B"] = pin
         self._active_high: bool = active_high
 
     @property
@@ -65,7 +66,7 @@ class DigitalIOConfiguration(ABC):
 
     @property
     def device_id(self) -> int:
-        """The device number of the DigitalInput/DigitalOutput."""
+        """The device number of the device that the DigitalInput/DigitalOutput is connected to."""
         return self._device_id
 
     @property
@@ -75,12 +76,12 @@ class DigitalIOConfiguration(ABC):
 
     @property
     def controller_port(self) -> int:
-        """The MachineMotion controller port of the DigitalInput/DigitalOutput."""
+        """The MachineMotion controller port of the device that the DigitalInput/DigitalOutput is connected to."""
         return self._controller_port
 
     @property
-    def pin(self) -> int:
-        """The pin number of the DigitalInput/DigitalOutput."""
+    def pin(self) -> int | Literal["A", "B"]:
+        """The pin number or letter of the DigitalInput/DigitalOutput."""
         return self._pin
 
     @property

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/ivention/irobot_move_sequence.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from abc import ABC, abstractmethod
-from typing import List, Union
+from typing import List, Optional, Union
 
 from machinelogic.decorators.undocumented import undocumented, undocumented_property
 from machinelogic.ivention.types.robot_types import (
@@ -59,7 +59,7 @@ class IRobotMoveSequence(ABC):
         target: JointAnglesDegrees,
         velocity: DegreesPerSecond = 10.0,
         acceleration: DegreesPerSecondSquared = 10.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
     ) -> IRobotMoveSequence:
         """
         Append a joint move to the sequence.
@@ -68,7 +68,8 @@ class IRobotMoveSequence(ABC):
             target: A list of 6 target joint angles in degrees.
             velocity: Joint velocity in degrees per second
             acceleration: Joint acceleration in degrees per second squared
-            blend_radius: Blend radius in millimeters for smooth transitions between moves
+            blend_radius: Blend radius in millimeters for smooth transitions between moves.
+                If None, the robot controller will use its default behavior (no blending).
 
         Returns:
             Self for method chaining
@@ -80,7 +81,7 @@ class IRobotMoveSequence(ABC):
         target: CartesianPose,
         velocity: MillimetersPerSecond = 100.0,
         acceleration: MillimetersPerSecondSquared = 100.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
         reference_frame: Union[CartesianPose, None] = None,
     ) -> IRobotMoveSequence:
         """
@@ -90,7 +91,8 @@ class IRobotMoveSequence(ABC):
             target: Target Cartesian pose [x, y, z, rx, ry, rz] in mm and degrees
             velocity: Linear velocity in millimeters per second
             acceleration: Linear acceleration in millimeters per second squared
-            blend_radius: Blend radius in millimeters for smooth transitions between moves
+            blend_radius: Blend radius in millimeters for smooth transitions between moves.
+                If None, the robot controller will use its default behavior (no blending).
             reference_frame: Optional reference frame for the target pose. If None, uses robot base frame.
 
         Returns:

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/robot/robot_move.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import math
-from typing import Union, cast
+from typing import Optional, Union, cast
 
 from vrmcs.types import (
     CartesianConstraints,
@@ -38,7 +38,7 @@ class RobotMove:
         target: Union[CartesianPose, JointAnglesDegrees],
         velocity: Union[DegreesPerSecond, MillimetersPerSecond],
         acceleration: Union[DegreesPerSecondSquared, MillimetersPerSecondSquared],
-        blend_radius: Millimeters,
+        blend_radius: Optional[Millimeters] = None,
     ):
         self.move_type = move_type
         self.target = target
@@ -72,7 +72,7 @@ class RobotMove:
             move_type=MoveType.MOVE_TYPE_JOINT,
             joint_goal=joint_goal,
             joint_constraints=joint_constraints,
-            blend_radius=self.blend_radius / 1000.0,  # mm to meters
+            blend_radius=(None if self.blend_radius is None else self.blend_radius / 1000.0),
         )
 
     def _to_vrmcs_cartesian_segment(self) -> MoveSegment:
@@ -112,5 +112,5 @@ class RobotMove:
             move_type=MoveType.MOVE_TYPE_CARTESIAN,
             cartesian_goal=cartesian_goal,
             cartesian_constraints=cartesian_constraints,
-            blend_radius=self.blend_radius / 1000.0,  # mm to meters
+            blend_radius=(None if self.blend_radius is None else self.blend_radius / 1000.0),
         )

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/robot/robot_move_sequence.py

@@ -2,7 +2,7 @@
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Any, List, Union
+from typing import TYPE_CHECKING, Any, List, Optional, Union
 
 from vrmcs.types import MoveType
 
@@ -58,7 +58,7 @@ class RobotMoveSequence(IRobotMoveSequence):
         target: JointAnglesDegrees,
         velocity: DegreesPerSecond = 10.0,
         acceleration: DegreesPerSecondSquared = 10.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
     ) -> RobotMoveSequence:
         self.moves.append(
             RobotMove(
@@ -76,7 +76,7 @@ class RobotMoveSequence(IRobotMoveSequence):
         target: CartesianPose,
         velocity: MillimetersPerSecond = 100.0,
         acceleration: MillimetersPerSecondSquared = 100.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
         reference_frame: Union[CartesianPose, None] = None,
     ) -> RobotMoveSequence:
         if reference_frame is None:

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/tests/test_robot_move.py

@@ -173,7 +173,6 @@ class TestRobotMove(unittest.TestCase):
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             velocity=10.0,
             acceleration=5.0,
-            blend_radius=0.0,
         )
 
         with self.assertRaises(ValueError) as context:
@@ -181,8 +180,20 @@ class TestRobotMove(unittest.TestCase):
 
         self.assertIn("Unknown move type", str(context.exception))
 
-    def test_to_vrmcs_segment_zero_blend_radius(self) -> None:
-        """Test to_vrmcs_segment with zero blend radius."""
+    def test_to_vrmcs_segment_none_blend_radius(self) -> None:
+        """Test to_vrmcs_segment with None blend radius omits the field."""
+        move = RobotMove(
+            move_type=MoveType.MOVE_TYPE_JOINT,
+            target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            velocity=10.0,
+            acceleration=5.0,
+        )
+
+        segment = move.to_vrmcs_segment()
+        self.assertIsNone(segment.blend_radius)
+
+    def test_to_vrmcs_segment_explicit_zero_blend_radius(self) -> None:
+        """Test to_vrmcs_segment with explicit zero blend radius sends 0.0."""
         move = RobotMove(
             move_type=MoveType.MOVE_TYPE_JOINT,
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
@@ -192,6 +203,7 @@ class TestRobotMove(unittest.TestCase):
         )
 
         segment = move.to_vrmcs_segment()
+        self.assertIsNotNone(segment.blend_radius)
         self.assertEqual(segment.blend_radius, 0.0)
 
     def test_to_vrmcs_segment_joint_angle_conversion(self) -> None:
@@ -202,7 +214,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=10.0,
             acceleration=5.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -228,7 +239,6 @@ class TestRobotMove(unittest.TestCase):
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             velocity=velocity,
             acceleration=acceleration,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -248,7 +258,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -268,7 +277,6 @@ class TestRobotMove(unittest.TestCase):
             target=[100.0, 200.0, 300.0, 0.0, 90.0, 180.0],
             velocity=velocity,
             acceleration=acceleration,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -285,7 +293,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         move.to_vrmcs_segment()
@@ -300,7 +307,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/tests/test_robot_move_sequence.py

@@ -86,7 +86,7 @@ class TestRobotMoveSequence(unittest.TestCase):
         self.assertEqual(move.target, target)
         self.assertEqual(move.velocity, 10.0)  # default velocity
         self.assertEqual(move.acceleration, 10.0)  # default acceleration
-        self.assertEqual(move.blend_radius, 0.0)  # default blend radius
+        self.assertIsNone(move.blend_radius)  # default blend radius
 
     def test_movel_basic(self) -> None:
         """Test basic append_movel functionality."""
@@ -135,7 +135,7 @@ class TestRobotMoveSequence(unittest.TestCase):
         self.assertEqual(move.target, target)
         self.assertEqual(move.velocity, 100.0)  # default velocity
         self.assertEqual(move.acceleration, 100.0)  # default acceleration
-        self.assertEqual(move.blend_radius, 0.0)  # default blend radius
+        self.assertIsNone(move.blend_radius)  # default blend radius
 
     def test_movel_with_reference_frame(self) -> None:
         """Test append_movel with reference frame transformation."""

{machine_logic_sdk-3.0.0 → machine_logic_sdk-3.0.2}/pyproject.toml

@@ -11,7 +11,7 @@ addopts = "--cov --cov-report html:'../../coverage/projects/machine-code/libs/ma
 
 [tool.poetry]
 name = "machine-logic-sdk"
-version = "3.0.0"
+version = "3.0.2"
 description = "SDK for controlling Vention hardware"
 authors = [ "VentionCo" ]
 license = "Proprietary"
@@ -39,7 +39,7 @@ classifiers = [
   docstring-parser = ">=0.16,<0.17"
   toml = ">=0.10,<0.11"
   python-statemachine = ">=2.5,<3.0"
-  vention-firmware-grpc-client = "0.0.2"
+  vention-firmware-grpc-client = "0.1.1"
   uv = ">=0.6,<0.7"
 
   [tool.poetry.group.dev.dependencies]