rainbow-rb-sdk 0.0.9.dev14__tar.gz → 0.0.9.dev16__tar.gz

{rainbow_rb_sdk-0.0.9.dev14 → rainbow_rb_sdk-0.0.9.dev16}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev14
+Version: 0.0.9.dev16
 Summary: Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동
 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.dev14
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev14
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev14
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev14
-Requires-Dist: rainbow-rb-log==0.0.9.dev14
+Requires-Dist: rainbow-rb-utils==0.0.9.dev16
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev16
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev16
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev16
+Requires-Dist: rainbow-rb-log==0.0.9.dev16
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev14 → rainbow_rb_sdk-0.0.9.dev16}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev14"
+version = "0.0.9.dev16"
 requires-python = ">=3.12,<3.13"
 description = "Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동"
 authors = [
@@ -13,11 +13,11 @@ authors = [
 readme = "README.md"
 
 dependencies = [
-    "rainbow-rb-utils==0.0.9.dev14",
-    "rainbow-rb-zenoh==0.0.9.dev14",
-    "rainbow-rb-flat-buffers==0.0.9.dev14",
-    "rainbow-rb-schemas==0.0.9.dev14",
-    "rainbow-rb-log==0.0.9.dev14",
+    "rainbow-rb-utils==0.0.9.dev16",
+    "rainbow-rb-zenoh==0.0.9.dev16",
+    "rainbow-rb-flat-buffers==0.0.9.dev16",
+    "rainbow-rb-schemas==0.0.9.dev16",
+    "rainbow-rb-log==0.0.9.dev16",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev14 → rainbow_rb_sdk-0.0.9.dev16}/src/rainbow/rb_sdk/base.py

@@ -10,6 +10,7 @@ import sys
 import threading
 import urllib.error
 import urllib.request
+import uuid
 from collections.abc import Callable
 from typing import TYPE_CHECKING, ClassVar, Literal, TypeVar, overload
 
@@ -33,7 +34,8 @@ if TYPE_CHECKING:
 
 T = TypeVar("T", bound="RBBaseSDK")
 TSubObj = TypeVar("TSubObj")
-ZENOH_MESH_PROBE_KEYEXPR = "muscat/zenoh/ready"
+ZENOH_ECHO_REQ_KEYEXPR = "muscat/zenoh/echo_req"
+ZENOH_ECHO_RES_KEYEXPR = "muscat/zenoh/echo_res"
 
 
 class RBBaseSDK:
@@ -472,44 +474,82 @@ class RBBaseSDK:
             zenoh_client.close()
         zenoh_client.connect()
 
-    def _probe_zenoh_mesh(self, keyexpr: str, *, timeout: float) -> bool:
-        try:
-            for _ in self.zenoh_client.query(keyexpr, timeout=timeout):
-                return True
-        except (ZenohNoReply, ZenohTransportError):
-            return False
-        return False
-
-    async def _wait_for_zenoh_mesh(
+    async def _wait_for_zenoh_echo(
         self,
         *,
-        keyexpr: str,
+        req_keyexpr: str,
+        res_keyexpr: str,
         timeout: float | None,
         probe_timeout: float,
         interval: float,
     ) -> bool:
+        """bridge ↔ 내부 mesh 의 양방향 pub/sub propagation이 settled 되었는지 검증한다.
+
+        unique nonce를 echo_req에 publish하고 echo_res로 동일 nonce가 돌아올 때까지 대기한다.
+        queryable probe와 달리 양방향 subscription declaration이 모두 전파되어야만 성공하므로
+        실제 pub/sub 경로가 동작함을 보장한다.
+        """
         loop = asyncio.get_running_loop()
         deadline = None if timeout is None else loop.time() + timeout
 
-        while True:
-            if await asyncio.to_thread(self._probe_zenoh_mesh, keyexpr, timeout=probe_timeout):
-                print(f"[SDK] zenoh mesh ready: {keyexpr}", flush=True)
-                return True
+        expected: set[str] = set()
+        received: asyncio.Event = asyncio.Event()
+        matched: dict[str, str] = {}
 
-            if deadline is None:
-                await asyncio.sleep(interval)
-                continue
+        def _cb(*, mv: memoryview, **kwargs):
+            try:
+                n = bytes(mv).decode("utf-8", "ignore")
+            except Exception:
+                return
+            if n in expected:
+                matched["nonce"] = n
+                loop.call_soon_threadsafe(received.set)
+
+        handle = self.zenoh_client.subscribe(
+            res_keyexpr,
+            _cb,
+            options=SubscribeOptions(parse_dict_payload=False, allowed_same_sender=True),
+        )
 
-            remaining = deadline - loop.time()
-            if remaining <= 0:
-                print(
-                    f"[SDK] zenoh mesh still warming up: no reply from {keyexpr!r} "
-                    f"within {timeout:.1f}s",
-                    flush=True,
-                )
-                return False
+        try:
+            while True:
+                nonce = uuid.uuid4().hex
+                expected.add(nonce)
+                received.clear()
+                matched.pop("nonce", None)
+                with contextlib.suppress(Exception):
+                    self.zenoh_client.publish(req_keyexpr, payload=nonce.encode())
+
+                try:
+                    await asyncio.wait_for(received.wait(), timeout=probe_timeout)
+                    if matched.get("nonce") == nonce:
+                        print(
+                            f"[SDK] zenoh echo verified: {req_keyexpr} → {res_keyexpr}",
+                            flush=True,
+                        )
+                        return True
+                except TimeoutError:
+                    pass
+
+                if deadline is None:
+                    await asyncio.sleep(interval)
+                    continue
+
+                remaining = deadline - loop.time()
+                if remaining <= 0:
+                    print(
+                        f"[SDK] zenoh echo still warming up: no matching reply on "
+                        f"{res_keyexpr!r} within {timeout:.1f}s",
+                        flush=True,
+                    )
+                    return False
 
-            await asyncio.sleep(min(interval, remaining))
+                await asyncio.sleep(min(interval, remaining))
+        finally:
+            with contextlib.suppress(Exception):
+                handle.close()
+            with contextlib.suppress(Exception):
+                self.zenoh_client.unsubscribe_topic(res_keyexpr)
 
     @staticmethod
     def _http_json(
@@ -614,8 +654,9 @@ class RBBaseSDK:
         )
 
         try:
-            await self._wait_for_zenoh_mesh(
-                keyexpr=ZENOH_MESH_PROBE_KEYEXPR,
+            await self._wait_for_zenoh_echo(
+                req_keyexpr=ZENOH_ECHO_REQ_KEYEXPR,
+                res_keyexpr=ZENOH_ECHO_RES_KEYEXPR,
                 timeout=mesh_timeout,
                 probe_timeout=mesh_probe_timeout,
                 interval=mesh_probe_interval,

{rainbow_rb_sdk-0.0.9.dev14 → rainbow_rb_sdk-0.0.9.dev16}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_move.py

@@ -62,6 +62,7 @@ from rainbow.rb_utils.flow_manager import eval_value
 from rainbow.rb_utils.manipulate import validate_single_return_value
 from rainbow.rb_zenoh.client import QueryResult
 from rainbow.rb_zenoh.schema import OverflowPolicy, SubscribeOptions
+from zenoh import CongestionControl, Priority
 
 from ..base import RBBaseSDK
 from .manipulate_get_data import RBManipulateGetDataSDK, Response_Get_Relative_ValueT
@@ -153,7 +154,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
                 if variable_name is not None:
                     carte_x_ref = []
                     try:
-                        carte_x_ref_obj = obj_payload.CarteXRef()
+                        carte_x_ref_obj = obj_payload.CarteXRefAsNumpy()
                         if carte_x_ref_obj is not None:
                             carte_x_ref_values = carte_x_ref_obj.FAsNumpy()
                             carte_x_ref = (
@@ -2141,7 +2142,10 @@ class RBManipulateMoveSDK(RBBaseSDK):
         self.zenoh_client.publish(
             f"{robot_model}/pub_servo_j",
             flatbuffer_req_obj=req,
-            flatbuffer_buf_size=80
+            flatbuffer_buf_size=80,
+            congestion_control=CongestionControl.DROP,
+            priority=Priority.REAL_TIME,
+            express=True,
         )
 
         if flow_manager_args is not None:

{rainbow_rb_sdk-0.0.9.dev14 → rainbow_rb_sdk-0.0.9.dev16}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev14
+Version: 0.0.9.dev16
 Summary: Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동
 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.dev14
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev14
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev14
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev14
-Requires-Dist: rainbow-rb-log==0.0.9.dev14
+Requires-Dist: rainbow-rb-utils==0.0.9.dev16
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev16
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev16
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev16
+Requires-Dist: rainbow-rb-log==0.0.9.dev16
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev16/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev16
+rainbow-rb-zenoh==0.0.9.dev16
+rainbow-rb-flat-buffers==0.0.9.dev16
+rainbow-rb-schemas==0.0.9.dev16
+rainbow-rb-log==0.0.9.dev16
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev14/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev14
-rainbow-rb-zenoh==0.0.9.dev14
-rainbow-rb-flat-buffers==0.0.9.dev14
-rainbow-rb-schemas==0.0.9.dev14
-rainbow-rb-log==0.0.9.dev14
-rby1-sdk>=0.9.1