rainbow-rb-sdk 0.0.9.dev26__tar.gz → 0.0.9.dev28__tar.gz

{rainbow_rb_sdk-0.0.9.dev26 → rainbow_rb_sdk-0.0.9.dev28}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev26
+Version: 0.0.9.dev28
 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: >=3.11
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev26
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev26
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev26
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev26
-Requires-Dist: rainbow-rb-log==0.0.9.dev26
+Requires-Dist: rainbow-rb-utils==0.0.9.dev28
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev28
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev28
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev28
+Requires-Dist: rainbow-rb-log==0.0.9.dev28
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev26 → rainbow_rb_sdk-0.0.9.dev28}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev26"
+version = "0.0.9.dev28"
 requires-python = ">=3.11"
 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.dev26",
-    "rainbow-rb-zenoh==0.0.9.dev26",
-    "rainbow-rb-flat-buffers==0.0.9.dev26",
-    "rainbow-rb-schemas==0.0.9.dev26",
-    "rainbow-rb-log==0.0.9.dev26",
+    "rainbow-rb-utils==0.0.9.dev28",
+    "rainbow-rb-zenoh==0.0.9.dev28",
+    "rainbow-rb-flat-buffers==0.0.9.dev28",
+    "rainbow-rb-schemas==0.0.9.dev28",
+    "rainbow-rb-log==0.0.9.dev28",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev26 → rainbow_rb_sdk-0.0.9.dev28}/src/rainbow/rb_sdk/base.py

@@ -483,7 +483,6 @@ class RBBaseSDK:
         self,
         *,
         listen_port: int,
-        mode: str = "peer",
     ) -> None:
         """Make the SDK's real query session reachable from remote common.
 
@@ -504,9 +503,7 @@ class RBBaseSDK:
         self.zenoh_client = zenoh_client
         with contextlib.suppress(Exception):
             zenoh_client.close()
-
-        config_pairs = [("mode", mode)] if mode != "peer" else None
-        zenoh_client.connect(config_pairs=config_pairs)
+        zenoh_client.connect()  # C++ connect() resets manually_closed_
 
     async def _wait_for_zenoh_echo(
         self,
@@ -625,7 +622,7 @@ class RBBaseSDK:
         host: str,
         zenoh_port: int | None = None,
         ttl: int = 30,
-        heartbeat_interval: float | None = None,
+        heartbeat: float | None = None,
         mesh_timeout: float | None = None,
         mesh_probe_timeout: float = 1.0,
         mesh_probe_interval: float = 0.5,
@@ -643,7 +640,7 @@ class RBBaseSDK:
             host: common 서비스가 실행 중인 PC의 IP (예: ``"192.168.1.100"``).
             zenoh_port: 이 머신의 Zenoh listen 포트. ``None`` 이면 OS가 자동 배정.
             ttl: common 측 브리지 세션 TTL(초). heartbeat를 보내지 않으면 이 시간 후 자동 해제.
-            heartbeat_interval: heartbeat 전송 주기(초). None 이면 ``ttl / 2`` 사용.
+            heartbeat: heartbeat 전송 주기(초). None 이면 ``ttl / 2`` 사용.
             mesh_timeout: mesh 형성 대기 최대 시간(초). None 이면 응답이 올 때까지 계속 대기.
                 timeout이 지나도 peer/heartbeat는 유지하고 connect()는 반환한다.
             mesh_probe_timeout: probe query 1회 timeout(초).
@@ -682,7 +679,7 @@ class RBBaseSDK:
         self._peer_common_url = url
         self._peer_token = token
 
-        interval = heartbeat_interval if heartbeat_interval is not None else max(1.0, ttl / 2)
+        interval = heartbeat if heartbeat is not None else max(1.0, ttl / 2)
         self._heartbeat_task = asyncio.create_task(
             self._heartbeat_loop(peer_id, ttl=ttl, interval=interval)
         )
@@ -777,8 +774,10 @@ class RBBaseSDK:
                     5.0,
                 )
                 if not resp_data.get("ok"):
-                    print(f"[SDK] heartbeat rejected for peer {peer_id}, stopping", flush=True)
-                    break
+                    print(f"[SDK] heartbeat rejected for peer {peer_id}, closing session", flush=True)
+                    self._heartbeat_task = None  # 자기 자신이므로 cancel/await 스킵
+                    await self.disconnect()
+                    return
             except Exception as e:
                 print(f"[SDK] heartbeat error for peer {peer_id}: {e}", flush=True)
 

{rainbow_rb_sdk-0.0.9.dev26 → rainbow_rb_sdk-0.0.9.dev28}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev26
+Version: 0.0.9.dev28
 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: >=3.11
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev26
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev26
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev26
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev26
-Requires-Dist: rainbow-rb-log==0.0.9.dev26
+Requires-Dist: rainbow-rb-utils==0.0.9.dev28
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev28
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev28
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev28
+Requires-Dist: rainbow-rb-log==0.0.9.dev28
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev28/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev28
+rainbow-rb-zenoh==0.0.9.dev28
+rainbow-rb-flat-buffers==0.0.9.dev28
+rainbow-rb-schemas==0.0.9.dev28
+rainbow-rb-log==0.0.9.dev28
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev26/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev26
-rainbow-rb-zenoh==0.0.9.dev26
-rainbow-rb-flat-buffers==0.0.9.dev26
-rainbow-rb-schemas==0.0.9.dev26
-rainbow-rb-log==0.0.9.dev26
-rby1-sdk>=0.9.1