micropsi-integration-sdk 0.22.0__tar.gz → 0.25.0__tar.gz

{micropsi-integration-sdk-0.22.0/micropsi_integration_sdk.egg-info → micropsi-integration-sdk-0.25.0}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.1
 Name: micropsi-integration-sdk
-Version: 0.22.0
+Version: 0.25.0
 Summary: Integration SDK for Micropsi Industries
 Home-page: https://github.com/micropsi-industries/micropsi-integration-sdk
 Author: Micropsi Industries
 Author-email: contact@micropsi-industries.com
 License: MIT
 Platform: linux-x86_64
-Requires-Python: >=3.6, <4
+Requires-Python: >=3.10, <4
 Description-Content-Type: text/markdown
 Provides-Extra: test
 License-File: LICENSE.txt

{micropsi-integration-sdk-0.22.0 → micropsi-integration-sdk-0.25.0}/micropsi_integration_sdk/robot_interface_collection.py

@@ -22,7 +22,7 @@ class RobotInterfaceCollection:
 
     def register_interface(self, interface_class: type) -> bool:
         """
-        Given a class definition fully satisfying the RobotInterface ABC, register it as the 
+        Given a class definition fully satisfying the RobotInterface ABC, register it as the
         constructor for each of its supported robot models.
         Args:
             interface_class (type): class definition, fully implementing RobotInterface.
@@ -78,7 +78,7 @@ class RobotInterfaceCollection:
             module = importlib.util.module_from_spec(spec)
             spec.loader.exec_module(module)
             for _, obj in inspect.getmembers(module):
-                self.register_interface(obj)            
+                self.register_interface(obj)
         else:
             logger.info("Skipping non-python file %s" % filepath)
 

{micropsi-integration-sdk-0.22.0 → micropsi-integration-sdk-0.25.0}/micropsi_integration_sdk/robot_sdk.py

@@ -409,6 +409,35 @@ class RobotInterface(ABC):
             "max_deceleration_degrees": 60,
         }
 
+    def kill_all_threads(self) -> None:
+        """
+        Optional, override as appropriate.
+
+        While your robot implementation might keep background threads alive between connect
+        and disconnect calls, this is the moment where all background activity needs to terminate.
+        Implement this method if you have threads or daemons started that stay alive after
+        disconnect has been called. Please terminate them via this method.
+        """
+        pass
+
+    def prepare_for_cog_estimation(self) -> None:
+        """
+        Optional, override as appropriate.
+
+        Many robots may require a different robot communication state for CoG estimation. Mirai only
+        needs to read the robot state during the CoG and should not send control signals (because the
+        robot is jogged from its teachpendant). We currently achieve this state by enabling all
+        communication interfaces and not letting robot control in various ways on either on the robot
+        side (e.g., by not pressing start button on KUKA) or on the robot's own SDK implementation.
+        This method now allows us to implement required routines to achieve this. We can set our
+        communication or the robot configuration on the robot side in a state that the robot sends
+        its readings to us without needing to engage in robot control and command interface.
+
+        This method is at the moment used for KUKA and the new RSI logic that requires a signal from
+        us to even sends robot state readings to us.
+        """
+        pass
+
 
 class CartesianPoseRobot(RobotInterface):
     """

{micropsi-integration-sdk-0.22.0 → micropsi-integration-sdk-0.25.0}/micropsi_integration_sdk/sandbox.py

@@ -254,8 +254,9 @@ def parse_args():
     return parser.parse_args()
 
 
-def main():
-    args = parse_args()
+def main(args=None):
+    if args is None:
+        args = parse_args()
     logging.basicConfig(level=logging.DEBUG if args.verbose else logging.INFO)
     path = args.path
     robot_model = args.model

micropsi-integration-sdk-0.25.0/micropsi_integration_sdk/version.py

@@ -0,0 +1 @@
+VERSION = "0.25.0"

{micropsi-integration-sdk-0.22.0 → micropsi-integration-sdk-0.25.0/micropsi_integration_sdk.egg-info}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.1
 Name: micropsi-integration-sdk
-Version: 0.22.0
+Version: 0.25.0
 Summary: Integration SDK for Micropsi Industries
 Home-page: https://github.com/micropsi-industries/micropsi-integration-sdk
 Author: Micropsi Industries
 Author-email: contact@micropsi-industries.com
 License: MIT
 Platform: linux-x86_64
-Requires-Python: >=3.6, <4
+Requires-Python: >=3.10, <4
 Description-Content-Type: text/markdown
 Provides-Extra: test
 License-File: LICENSE.txt

{micropsi-integration-sdk-0.22.0 → micropsi-integration-sdk-0.25.0}/setup.py

@@ -38,6 +38,6 @@ setup(
         ],
     },
     platforms=[get_build_platform()],
-    python_requires=">=3.6, <4",
+    python_requires=">=3.10, <4",
     license="MIT",
 )

micropsi-integration-sdk-0.22.0/micropsi_integration_sdk/version.py

@@ -1 +0,0 @@
-VERSION = "0.22.0"