rainbow-rb-sdk 0.0.9.dev27__tar.gz → 0.0.9.dev29__tar.gz

{rainbow_rb_sdk-0.0.9.dev27 → rainbow_rb_sdk-0.0.9.dev29}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev27
+Version: 0.0.9.dev29
 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.dev27
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev27
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev27
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev27
-Requires-Dist: rainbow-rb-log==0.0.9.dev27
+Requires-Dist: rainbow-rb-utils==0.0.9.dev29
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev29
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev29
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev29
+Requires-Dist: rainbow-rb-log==0.0.9.dev29
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev27 → rainbow_rb_sdk-0.0.9.dev29}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev27"
+version = "0.0.9.dev29"
 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.dev27",
-    "rainbow-rb-zenoh==0.0.9.dev27",
-    "rainbow-rb-flat-buffers==0.0.9.dev27",
-    "rainbow-rb-schemas==0.0.9.dev27",
-    "rainbow-rb-log==0.0.9.dev27",
+    "rainbow-rb-utils==0.0.9.dev29",
+    "rainbow-rb-zenoh==0.0.9.dev29",
+    "rainbow-rb-flat-buffers==0.0.9.dev29",
+    "rainbow-rb-schemas==0.0.9.dev29",
+    "rainbow-rb-log==0.0.9.dev29",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev27 → rainbow_rb_sdk-0.0.9.dev29}/src/rainbow/rb_sdk/base.py

@@ -307,7 +307,8 @@ class RBBaseSDK:
         self._peer_id: str | None = None
         self._peer_common_url: str | None = None
         self._peer_token: str | None = None
-        self._heartbeat_task: asyncio.Task | None = None
+        self._heartbeat_task: threading.Thread | None = None
+        self._heartbeat_stop: threading.Event = threading.Event()
 
         self._initialized = True
 
@@ -622,7 +623,7 @@ 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,
@@ -640,7 +641,7 @@ 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).
@@ -679,10 +680,17 @@ 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)
-        self._heartbeat_task = asyncio.create_task(
-            self._heartbeat_loop(peer_id, ttl=ttl, interval=interval)
+        interval = heartbeat if heartbeat is not None else max(1.0, ttl / 2)
+        self._heartbeat_stop = threading.Event()
+        hb_thread = threading.Thread(
+            target=self._heartbeat_loop,
+            args=(peer_id,),
+            kwargs={"ttl": ttl, "interval": interval},
+            daemon=True,
+            name=f"sdk-heartbeat-{peer_id[:8]}",
         )
+        hb_thread.start()
+        self._heartbeat_task = hb_thread
 
         try:
             await self._wait_for_zenoh_echo(
@@ -693,10 +701,7 @@ class RBBaseSDK:
                 interval=mesh_probe_interval,
             )
         except BaseException:
-            if self._heartbeat_task and not self._heartbeat_task.done():
-                self._heartbeat_task.cancel()
-                with contextlib.suppress(asyncio.CancelledError):
-                    await self._heartbeat_task
+            self._heartbeat_stop.set()
             self._heartbeat_task = None
             self._peer_id = None
             self._peer_common_url = None
@@ -720,11 +725,11 @@ class RBBaseSDK:
         if peer_id is None:
             return False
 
-        # heartbeat 먼저 중단
-        if self._heartbeat_task and not self._heartbeat_task.done():
-            self._heartbeat_task.cancel()
-            with contextlib.suppress(asyncio.CancelledError):
-                await self._heartbeat_task
+        # heartbeat 스레드 중단
+        if hasattr(self, "_heartbeat_stop"):
+            self._heartbeat_stop.set()
+        if self._heartbeat_task and self._heartbeat_task.is_alive():
+            self._heartbeat_task.join(timeout=2.0)
         self._heartbeat_task = None
 
         url = self._peer_common_url
@@ -757,16 +762,15 @@ class RBBaseSDK:
 
         return True
 
-    async def _heartbeat_loop(self, peer_id: str, *, ttl: int, interval: float) -> None:
-        """common에 주기적으로 heartbeat를 전송해 브리지 세션의 TTL을 연장한다."""
-        while True:
-            await asyncio.sleep(interval)
+    def _heartbeat_loop(self, peer_id: str, *, ttl: int, interval: float) -> None:
+        """별도 스레드에서 heartbeat를 전송한다. asyncio 이벤트 루프와 무관하게 동작."""
+        stop: threading.Event = getattr(self, "_heartbeat_stop", threading.Event())
+        while not stop.wait(timeout=interval):
             if self._peer_common_url is None or self._peer_token is None:
                 break
             headers = {"Authorization": f"Bearer {self._peer_token}"}
             try:
-                resp_data = await asyncio.to_thread(
-                    self._http_json,
+                resp_data = self._http_json(
                     "POST",
                     f"{self._peer_common_url}/zenoh/peer/{peer_id}/heartbeat",
                     {"ttl": ttl},
@@ -775,7 +779,8 @@ class RBBaseSDK:
                 )
                 if not resp_data.get("ok"):
                     print(f"[SDK] heartbeat rejected for peer {peer_id}, closing session", flush=True)
-                    await self.disconnect()
+                    self._heartbeat_task = None  # 자기 자신이므로 join 스킵
+                    self._run_coro_blocking(self.disconnect(), timeout=5)
                     return
             except Exception as e:
                 print(f"[SDK] heartbeat error for peer {peer_id}: {e}", flush=True)

{rainbow_rb_sdk-0.0.9.dev27 → rainbow_rb_sdk-0.0.9.dev29}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev27
+Version: 0.0.9.dev29
 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.dev27
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev27
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev27
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev27
-Requires-Dist: rainbow-rb-log==0.0.9.dev27
+Requires-Dist: rainbow-rb-utils==0.0.9.dev29
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev29
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev29
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev29
+Requires-Dist: rainbow-rb-log==0.0.9.dev29
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev29/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev29
+rainbow-rb-zenoh==0.0.9.dev29
+rainbow-rb-flat-buffers==0.0.9.dev29
+rainbow-rb-schemas==0.0.9.dev29
+rainbow-rb-log==0.0.9.dev29
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev27/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev27
-rainbow-rb-zenoh==0.0.9.dev27
-rainbow-rb-flat-buffers==0.0.9.dev27
-rainbow-rb-schemas==0.0.9.dev27
-rainbow-rb-log==0.0.9.dev27
-rby1-sdk>=0.9.1