rainbow-rb-sdk 0.0.9.dev28__tar.gz → 0.0.9.dev31__tar.gz

{rainbow_rb_sdk-0.0.9.dev28 → rainbow_rb_sdk-0.0.9.dev31}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev28
+Version: 0.0.9.dev31
 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.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: rainbow-rb-utils==0.0.9.dev31
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev31
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev31
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev31
+Requires-Dist: rainbow-rb-log==0.0.9.dev31
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev28 → rainbow_rb_sdk-0.0.9.dev31}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev28"
+version = "0.0.9.dev31"
 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.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",
+    "rainbow-rb-utils==0.0.9.dev31",
+    "rainbow-rb-zenoh==0.0.9.dev31",
+    "rainbow-rb-flat-buffers==0.0.9.dev31",
+    "rainbow-rb-schemas==0.0.9.dev31",
+    "rainbow-rb-log==0.0.9.dev31",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev28 → rainbow_rb_sdk-0.0.9.dev31}/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
 
@@ -680,9 +681,16 @@ class RBBaseSDK:
         self._peer_token = token
 
         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)
+        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},
@@ -775,8 +779,8 @@ class RBBaseSDK:
                 )
                 if not resp_data.get("ok"):
                     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()
+                    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.dev28 → rainbow_rb_sdk-0.0.9.dev31}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_move.py

@@ -25,6 +25,7 @@ from rainbow.rb_flat_buffers.IPC.Request_Move_SmoothJogL import Request_Move_Smo
 from rainbow.rb_flat_buffers.IPC.Request_Move_SmoothJogStop import Request_Move_SmoothJogStopT
 from rainbow.rb_flat_buffers.IPC.Request_Move_TickJogJ import Request_Move_TickJogJT
 from rainbow.rb_flat_buffers.IPC.Request_Move_TickJogL import Request_Move_TickJogLT
+from rainbow.rb_flat_buffers.IPC.Request_Move_Wait import Request_Move_WaitT
 from rainbow.rb_flat_buffers.IPC.Request_Move_XB_ADD import Request_Move_XB_ADDT
 from rainbow.rb_flat_buffers.IPC.Request_Move_XB_CLR import Request_Move_XB_CLRT
 from rainbow.rb_flat_buffers.IPC.Request_Move_XB_RUN import Request_Move_XB_RUNT
@@ -54,10 +55,13 @@ from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ArcSensing_On import Request_Wr
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_Off import Request_Wrapper_Conveyor_OffT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_On import Request_Wrapper_Conveyor_OnT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_Speed import Request_Wrapper_Conveyor_SpeedT
+from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ServoL_Off import Request_Wrapper_ServoL_OffT
+from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ServoL_On import Request_Wrapper_ServoL_OnT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_TcpWeave_Off import Request_Wrapper_TcpWeave_OffT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_TcpWeave_On import Request_Wrapper_TcpWeave_OnT
 from rainbow.rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
 from rainbow.rb_flat_buffers.IPC.State_Core import State_Core
+from rainbow.rb_schemas.fbs_models.manipulate.v1.common_struct_models import MoveInput_TargetPD
 from rainbow.rb_schemas.sdk import FlowManagerArgs
 from rainbow.rb_utils.flow_manager import eval_value
 from rainbow.rb_utils.manipulate import validate_single_return_value
@@ -2634,3 +2638,177 @@ class RBManipulateMoveSDK(RBBaseSDK):
 
         if flow_manager_args is not None:
             flow_manager_args.done()
+
+    def call_wrapper_servo_l_on(
+        self,
+        robot_model: str,
+        target: MoveInput_TargetPD,
+        time_gap: float,
+        filter: float,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Wrapper ServoL On 호출 함수]
+        Args:
+            robot_model: 로봇 모델명
+            target: 목표 위치 및 프레임 정보
+            time_gap: 타임갭 값 (초)
+            filter: 필터 값 (0~1 사이)
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OnT()
+        req.target = MoveInput_TargetT()
+        req.target.tarValues = target.get("tar_values")
+        req.target.tarFrame = target.get("tar_frame", 0)
+        req.target.tarUnit = target.get("tar_unit", 0)
+        req.filter = filter
+        req.timeGap = time_gap
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_wrapper_servo_l_on",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=15,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Wrapper ServoL On: obj_payload is None")
+
+        self.manipulate_return_value(
+            "call_wrapper_servo_l_on", res["obj_payload"], flow_manager_args
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+        return res["obj_payload"]
+
+    def call_wrapper_servo_l_off(
+        self,
+        robot_model: str,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Wrapper ServoL Off 호출 함수]
+        Args:
+            robot_model: 로봇 모델명
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OffT()
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_wrapper_servo_l_off",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=15,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Wrapper ServoL Off: obj_payload is None")
+
+        self.manipulate_return_value(
+            "call_wrapper_servo_l_off", res["obj_payload"], flow_manager_args
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+        return res["obj_payload"]
+
+    def pub_wrapper_servo_l_on(
+        self,
+        robot_model: str,
+        target: MoveInput_TargetPD,
+        time_gap: float,
+        filter: float,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ):
+        """
+        [Wrapper ServoL On Publish 함수]
+        Args:
+            robot_model: 로봇 모델명
+            target: 목표 위치 및 프레임 정보
+            time_gap: 타임갭 값 (초)
+            filter: 필터 값 (0~1 사이)
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OnT()
+        req.target = MoveInput_TargetT()
+        req.target.tarValues = target.get("tar_values")
+        req.target.tarFrame = target.get("tar_frame", 0)
+        req.target.tarUnit = target.get("tar_unit", 0)
+        req.filter = filter
+        req.timeGap = time_gap
+
+        self.zenoh_client.publish(
+            f"{robot_model}/pub_wrapper_servo_l_on",
+            flatbuffer_req_obj=req,
+            flatbuffer_buf_size=80,
+            congestion_control=CongestionControl.DROP,
+            priority=Priority.REAL_TIME,
+            express=True,
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+    def pub_wrapper_servo_l_off(
+        self,
+        robot_model: str,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ):
+        """
+        [Wrapper ServoL Off Publish 함수]
+        Args:
+            robot_model: 로봇 모델명
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OffT()
+
+        self.zenoh_client.publish(
+            f"{robot_model}/pub_wrapper_servo_l_off",
+            flatbuffer_req_obj=req,
+            flatbuffer_buf_size=80,
+            congestion_control=CongestionControl.DROP,
+            priority=Priority.REAL_TIME,
+            express=True,
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+    def call_move_wait(
+        self,
+        robot_model: str,
+        timeout_sec: float,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Move Wait 호출 함수]
+        Args:
+            robot_model: 로봇 모델명
+            timeout_sec: 타임아웃 시간 (초) : -1 는 무한대기
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Move_WaitT()
+        req.timeoutSec = timeout_sec
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_move_wait",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=timeout_sec + 3 if timeout_sec > 0 else None,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Move Wait: obj_payload is None")
+
+        self.manipulate_return_value("call_move_wait", res["obj_payload"], flow_manager_args)
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+        return res["obj_payload"]

{rainbow_rb_sdk-0.0.9.dev28 → rainbow_rb_sdk-0.0.9.dev31}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev28
+Version: 0.0.9.dev31
 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.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: rainbow-rb-utils==0.0.9.dev31
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev31
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev31
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev31
+Requires-Dist: rainbow-rb-log==0.0.9.dev31
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev31/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev31
+rainbow-rb-zenoh==0.0.9.dev31
+rainbow-rb-flat-buffers==0.0.9.dev31
+rainbow-rb-schemas==0.0.9.dev31
+rainbow-rb-log==0.0.9.dev31
+rby1-sdk>=0.9.1

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

@@ -1,6 +0,0 @@
-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