rainbow-rb-sdk 0.0.9.dev16__tar.gz → 0.0.9.dev17__tar.gz

{rainbow_rb_sdk-0.0.9.dev16 → rainbow_rb_sdk-0.0.9.dev17}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev16
+Version: 0.0.9.dev17
 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.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: rainbow-rb-utils==0.0.9.dev17
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev17
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev17
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev17
+Requires-Dist: rainbow-rb-log==0.0.9.dev17
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev16 → rainbow_rb_sdk-0.0.9.dev17}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev16"
+version = "0.0.9.dev17"
 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.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",
+    "rainbow-rb-utils==0.0.9.dev17",
+    "rainbow-rb-zenoh==0.0.9.dev17",
+    "rainbow-rb-flat-buffers==0.0.9.dev17",
+    "rainbow-rb-schemas==0.0.9.dev17",
+    "rainbow-rb-log==0.0.9.dev17",
     "rby1-sdk>=0.9.1",
 ]
 
@@ -30,4 +30,4 @@ where = ["src"]
 include = ["rainbow.rb_sdk*"]
 
 [tool.setuptools.package-data]
-"*" = ["py.typed"]
+"*" = ["py.typed", "*.pyi", "_core*.so", "_core*.pyd"]

{rainbow_rb_sdk-0.0.9.dev16 → rainbow_rb_sdk-0.0.9.dev17}/src/rainbow/rb_sdk/base.py

@@ -50,19 +50,27 @@ class RBBaseSDK:
     # PID별 ZenohClient 인스턴스
     _zenoh_clients: ClassVar[dict[int, ZenohClient]] = {}
 
-    _lock: ClassVar[threading.Lock] = threading.Lock()
+    # RLock: __new__ → _refresh_zenoh_client_for_pid 재진입 가능
+    _lock: ClassVar[threading.RLock] = threading.RLock()
 
     @staticmethod
     def _is_client_session_alive(client: ZenohClient | None) -> bool:
-        """Zenoh 세션 객체의 기본 생존 상태를 점검한다."""
+        """Zenoh 세션 객체의 기본 생존 상태를 점검한다.
+
+        C++ 마이그레이션 후 ZenohClient는 ._core (ZenohClientCore) 를 보유한다.
+        close() 시 ._core 가 None 으로 설정되므로 그것을 생존 신호로 사용한다.
+        """
         if client is None:
             return False
 
+        # C++ core 경로 (현재 구현)
+        if getattr(client, "_core", None) is not None:
+            return True
+
+        # 레거시 python-zenoh 경로 호환 (혹시 남아 있을 경우 대비)
         session = getattr(client, "session", None)
         if session is None:
             return False
-
-        # zenoh 바인딩 버전에 따라 closed/is_closed 형태가 다를 수 있다.
         for attr_name in ("is_closed", "closed"):
             attr = getattr(session, attr_name, None)
             if attr is None:

{rainbow_rb_sdk-0.0.9.dev16 → rainbow_rb_sdk-0.0.9.dev17}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_config.py

@@ -71,7 +71,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
 
     def set_toolist_num(
         self, *, robot_model: str, tool_num: int, flow_manager_args: FlowManagerArgs | None = None
-    ):
+    ) -> Response_FunctionsT:
         """TCP 번호 설정
 
         Args:
@@ -104,7 +104,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         alpha: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Speed Bar 호출 함수]
 
@@ -138,7 +138,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         *,
         robot_model: str,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_CallConfigRobotArmT:
         """
         [Config Robot Arm 호출 함수]
 
@@ -169,7 +169,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         *,
         robot_model: str,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_CallConfigControlBoxT:
         """
         [Config Control Box 호출 함수]
 
@@ -204,7 +204,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         code: str,
         option: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Robot Code 호출 함수]
         """
@@ -259,7 +259,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         target_tool_num: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Tool List Num 호출 함수]
         """
@@ -290,7 +290,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Save_Tool_ParameterSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Tool List Parameter 호출 함수]
         """
@@ -344,7 +344,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         target_user_frame_num: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set User Frame Num 호출 함수]
 
@@ -380,7 +380,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Save_User_Frame_ParameterSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save User Frame Parameter 호출 함수]
 
@@ -424,7 +424,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         *,
         robot_model: str,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_CallConfigGlobPinListT:
         """
         [Config Global Pin List 호출 함수]
 
@@ -455,7 +455,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Save_Global_Pin_ParameterSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Global PinPoint Parameter 호출 함수]
 
@@ -494,7 +494,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Set_User_Frame_6DofSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set User Frame 6Dof 호출 함수]
 
@@ -539,7 +539,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         user_frame_num: int,
         setting_option: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """[Set User Frame TCP 호출 함수]
 
         Args:
@@ -576,7 +576,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Set_User_Frame_3PointsSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set User Frame 3Points 호출 함수]
 
@@ -623,7 +623,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         request: Request_Save_Area_ParameterSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Area Parameter 호출 함수]
 
@@ -670,7 +670,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         sensitivity: list[float],
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Direct Teach Sensitivity 호출 함수]
 
@@ -710,7 +710,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         react: int,
         threshold: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Collision Parameter 호출 함수]
 
@@ -754,7 +754,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         dist_internal: float,
         dist_external: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Self Collision Parameter 호출 함수]
 
@@ -798,7 +798,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         position_up: list[float],
         speed_limit: list[float],
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Joint Limit 호출 함수]
 
@@ -841,7 +841,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         mode: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Save Deflection Compensation 호출 함수]
 
@@ -881,7 +881,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         react_mode: int,
         threshold: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Out Collision Para 호출 함수]
 
@@ -925,7 +925,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         dist_int: float,
         dist_ext: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Self Collision Para 호출 함수]
 
@@ -967,7 +967,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         mode: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Master Mode 호출 함수]
 
@@ -1007,7 +1007,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         acc_option: int,
         acc_parameter: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Fixed Speed 호출 함수]
 
@@ -1053,7 +1053,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         shift_mode: int,
         target: MoveInputTargetSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Shift 호출 함수]
 
@@ -1098,7 +1098,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         option: int,
         time_sec: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Time Constraint 호출 함수]
 
@@ -1137,7 +1137,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         option: int,
         message: str,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set ASCII Function Call 호출 함수]
 
@@ -1179,7 +1179,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         stiffness: list[float],
         torquelimit: list[float],
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Joint Impedance 호출 함수]
 
@@ -1224,7 +1224,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         extra_force_fz: float,
         sensitivity: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Freedrive 호출 함수]
 
@@ -1273,7 +1273,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         present_point_2: MoveInputTargetSchema,
         present_point_3: MoveInputTargetSchema,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Shift Landmark 호출 함수]
 
@@ -1325,7 +1325,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         target: int,
         option: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Program Flow Change 호출 함수]
 
@@ -1367,7 +1367,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         port_num: int,
         option: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set D.in Function Mask 호출 함수]
 
@@ -1409,7 +1409,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         port_num: int,
         option: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set D.out Function Mask 호출 함수]
 
@@ -1451,7 +1451,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         robot_model: str,
         mode: int,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Jacobian based Speed-Control 호출 함수]
 
@@ -1490,7 +1490,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         frequency: float,
         magnitudes: list[float],
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Self Vibration Mode 호출 함수]
 
@@ -1543,7 +1543,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         y_phase: float,
         z_phase: float,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Vibration (Motion based) On 호출 함수]
 
@@ -1601,7 +1601,7 @@ class RBManipulateConfigSDK(RBBaseSDK):
         *,
         robot_model: str,
         flow_manager_args: FlowManagerArgs | None = None,
-    ):
+    ) -> Response_FunctionsT:
         """
         [Set Vibration (Motion based) Off 호출 함수]