rainbow-rb-flow-manager 0.0.9.dev5__tar.gz → 0.0.9.dev7__tar.gz

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/PKG-INFO

@@ -1,16 +1,16 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-flow-manager
-Version: 0.0.9.dev5
+Version: 0.0.9.dev7
 Summary: Rainbow Python Flow Manager
 Author-email: Derek <dfd1123@rainbow-robotics.com>
 Requires-Python: <3.13,>=3.12
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev5
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev5
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev5
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev5
-Requires-Dist: rainbow-rb-sdk==0.0.9.dev5
-Requires-Dist: rainbow-rb-log==0.0.9.dev5
+Requires-Dist: rainbow-rb-utils==0.0.9.dev7
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev7
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev7
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev7
+Requires-Dist: rainbow-rb-sdk==0.0.9.dev7
+Requires-Dist: rainbow-rb-log==0.0.9.dev7
 
 # rb_flow_manager 사용 설명서
 

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-flow-manager"
-version = "0.0.9.dev5"
+version = "0.0.9.dev7"
 requires-python = ">=3.12,<3.13"
 description = "Rainbow Python Flow Manager"
 authors = [
@@ -13,12 +13,12 @@ authors = [
 readme = "README.md"
 
 dependencies = [
-    "rainbow-rb-utils==0.0.9.dev5",
-    "rainbow-rb-zenoh==0.0.9.dev5",
-    "rainbow-rb-flat-buffers==0.0.9.dev5",
-    "rainbow-rb-schemas==0.0.9.dev5",
-    "rainbow-rb-sdk==0.0.9.dev5",
-    "rainbow-rb-log==0.0.9.dev5",
+    "rainbow-rb-utils==0.0.9.dev7",
+    "rainbow-rb-zenoh==0.0.9.dev7",
+    "rainbow-rb-flat-buffers==0.0.9.dev7",
+    "rainbow-rb-schemas==0.0.9.dev7",
+    "rainbow-rb-sdk==0.0.9.dev7",
+    "rainbow-rb-log==0.0.9.dev7",
 ]
 
 [tool.setuptools]

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/src/rainbow/rb_flow_manager/context.py

@@ -24,6 +24,8 @@ from rainbow.rb_utils.parser import t_to_dict
 from .exception import BreakFolder, StopExecution, SubTaskHaltException
 from .schema import ExecutorState, RB_Flow_Manager_ProgramState
 
+_MISSING = object()
+
 
 class ExecutionContext:
     """스크립트 실행 컨텍스트"""
@@ -169,6 +171,31 @@ class ExecutionContext:
         except Exception as e:
             raise e
 
+    def get_var(self, pid_or_robot_model: str, var_name: str, default: Any = _MISSING) -> Any:
+        all_dicts = self.shared_state_dicts or {}
+
+        # pid 직접 매치 우선, 없으면 robot_model로 탐색
+        target_state = all_dicts.get(pid_or_robot_model)
+        if target_state is None:
+            for sd in all_dicts.values():
+                if sd.get("robot_model") == pid_or_robot_model:
+                    target_state = sd
+                    break
+
+        if target_state is None:
+            if default is not _MISSING:
+                return default
+            raise RuntimeError(f"get_var: process '{pid_or_robot_model}' not found")
+
+        raw_vars: dict[str, Any] = dict(target_state.get("variables", {}))
+        entry = raw_vars.get(var_name)
+        if entry is None:
+            if default is not _MISSING:
+                return default
+            raise RuntimeError(f"get_var: variable '{var_name}' not found in '{pid_or_robot_model}'")
+
+        return entry.get("value") if isinstance(entry, dict) else entry
+
     def _ensure_sdk_roots(self):
         if self._sdk_roots is not None:
             return
@@ -589,13 +616,14 @@ class ExecutionContext:
         raise SubTaskHaltException()
 
     def _safe_close_sdk(self):
-        """SDK 안전 종료"""
+        """SDK 안전 종료
+
+        부모 SDK(RBManipulateSDK 등)가 자식 SDK 9개를 자동 instantiate 하기 때문에
+        _sdk_roots만 close하면 ref-count가 0에 도달하지 못해 ZenohClient leak이
+        발생한다. 현재 pid에 등록된 모든 RBBaseSDK 서브클래스 인스턴스를 일괄 close.
+        """
         with contextlib.suppress(Exception):
-            if self._sdk_roots is not None:
-                for sdk in self._sdk_roots.values():
-                    close_fn = getattr(sdk, "close", None)
-                    if callable(close_fn):
-                        close_fn()
+            RBBaseSDK.close_all_for_pid()
 
     def close(self):
         """안전하게 close"""

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/src/rainbow/rb_flow_manager/controller/zenoh_controller.py

@@ -24,7 +24,7 @@ from rainbow.rb_flat_buffers.program.Request_Update_Sub_Task_State import Reques
 from rainbow.rb_flow_manager.controller.base_controller import BaseController
 from rainbow.rb_log.log import rb_log
 from rainbow.rb_zenoh.client import ZenohClient
-from rainbow.rb_zenoh.exeption import ZenohNoReply, ZenohReplyError
+from rainbow.rb_zenoh.exception import ZenohNoReply, ZenohReplyError
 
 
 class Zenoh_Controller(BaseController):

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/src/rainbow/rb_flow_manager/executor.py

@@ -316,7 +316,7 @@ def _execute_tree_in_process(
 
     try:
         init_state()
-
+        print(f"Process {process_id} initialized with state: {state_dict}", flush=True)
         ctx = ExecutionContext(
             process_id,
             state_dict,

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/src/rainbow/rb_flow_manager/step.py

@@ -1,3 +1,4 @@
+import copy
 import importlib
 import sys
 import time
@@ -356,10 +357,13 @@ class Step:
 
             if fn is not None and not self.disabled and not is_skip:
                 done_event = Event()
-                variables_before_call = {
-                    "local": dict(ctx.variables.get("local", {})),
-                    "global": dict(ctx.variables.get("global", {})),
-                }
+                try:
+                    variables_before_call = copy.deepcopy(ctx.variables)
+                except Exception:
+                    variables_before_call = {
+                        "local": dict(ctx.variables.get("local", {})),
+                        "global": dict(ctx.variables.get("global", {})),
+                    }
 
                 def done():
                     nonlocal done_called
@@ -375,6 +379,7 @@ class Step:
                                 self.done_script,
                                 variables=ctx.variables,
                                 get_global_variable=ctx.get_global_variable,
+                                get_var=ctx.get_var,
                             )
                         else:
                             self.done_script()
@@ -417,6 +422,7 @@ class Step:
                                 v,
                                 variables=ctx.variables,
                                 get_global_variable=ctx.get_global_variable,
+                                get_var=ctx.get_var,
                             )
 
                     if self.variable:
@@ -438,6 +444,7 @@ class Step:
                                             v,
                                             variables=ctx.variables,
                                             get_global_variable=ctx.get_global_variable,
+                                            get_var=ctx.get_var,
                                         )
 
                             resolved_variables[k] = v
@@ -720,6 +727,7 @@ class RepeatStep(Step):
                     self.while_cond,
                     variables=ctx.variables,
                     get_global_variable=ctx.get_global_variable,
+                    get_var=ctx.get_var,
                 ):
                     try:
                         self._pre_execute(ctx, is_skip=is_skip)
@@ -764,6 +772,7 @@ class RepeatStep(Step):
                         self.do_while,
                         variables=ctx.variables,
                         get_global_variable=ctx.get_global_variable,
+                        get_var=ctx.get_var,
                     ):
                         break
                 else:
@@ -922,6 +931,7 @@ class ConditionStep(Step):
                 condition_expr,
                 variables=ctx.variables,
                 get_global_variable=ctx.get_global_variable,
+                get_var=ctx.get_var,
             ):
                 post_execute_and_execute_children()
                 return

{rainbow_rb_flow_manager-0.0.9.dev5 → rainbow_rb_flow_manager-0.0.9.dev7}/src/rainbow_rb_flow_manager.egg-info/PKG-INFO

@@ -1,16 +1,16 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-flow-manager
-Version: 0.0.9.dev5
+Version: 0.0.9.dev7
 Summary: Rainbow Python Flow Manager
 Author-email: Derek <dfd1123@rainbow-robotics.com>
 Requires-Python: <3.13,>=3.12
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev5
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev5
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev5
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev5
-Requires-Dist: rainbow-rb-sdk==0.0.9.dev5
-Requires-Dist: rainbow-rb-log==0.0.9.dev5
+Requires-Dist: rainbow-rb-utils==0.0.9.dev7
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev7
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev7
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev7
+Requires-Dist: rainbow-rb-sdk==0.0.9.dev7
+Requires-Dist: rainbow-rb-log==0.0.9.dev7
 
 # rb_flow_manager 사용 설명서
 

rainbow_rb_flow_manager-0.0.9.dev7/src/rainbow_rb_flow_manager.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev7
+rainbow-rb-zenoh==0.0.9.dev7
+rainbow-rb-flat-buffers==0.0.9.dev7
+rainbow-rb-schemas==0.0.9.dev7
+rainbow-rb-sdk==0.0.9.dev7
+rainbow-rb-log==0.0.9.dev7

rainbow_rb_flow_manager-0.0.9.dev5/src/rainbow_rb_flow_manager.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev5
-rainbow-rb-zenoh==0.0.9.dev5
-rainbow-rb-flat-buffers==0.0.9.dev5
-rainbow-rb-schemas==0.0.9.dev5
-rainbow-rb-sdk==0.0.9.dev5
-rainbow-rb-log==0.0.9.dev5