rainbow-rb-sdk 0.0.9.dev29__tar.gz → 0.0.9.dev32__tar.gz

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev29
+Version: 0.0.9.dev32
 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.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: rainbow-rb-utils==0.0.9.dev32
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev32
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev32
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev32
+Requires-Dist: rainbow-rb-log==0.0.9.dev32
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev29"
+version = "0.0.9.dev32"
 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.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",
+    "rainbow-rb-utils==0.0.9.dev32",
+    "rainbow-rb-zenoh==0.0.9.dev32",
+    "rainbow-rb-flat-buffers==0.0.9.dev32",
+    "rainbow-rb-schemas==0.0.9.dev32",
+    "rainbow-rb-log==0.0.9.dev32",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr.py

@@ -2,6 +2,7 @@
 
 from rainbow.rb_sdk.amr_sdk.amr_capability import RBAmrCapabilitySDK
 from rainbow.rb_sdk.amr_sdk.amr_program import RBAmrProgramSDK
+from rainbow.rb_sdk.amr_sdk.amr_sensor import RBAmrSensorSDK
 
 from .amr_sdk.amr_control import RBAmrControlSDK
 from .amr_sdk.amr_file import RBAmrFileSDK
@@ -43,6 +44,9 @@ class RBAmrSDK(RBBaseSDK):
     program: RBAmrProgramSDK
     """AMR 프로그램 관련 SDK 집합"""
 
+    sensor: RBAmrSensorSDK
+    """AMR 센서 관련 SDK 집합"""
+
     def __init__(self):
         super().__init__(server="amr")
 
@@ -55,3 +59,4 @@ class RBAmrSDK(RBBaseSDK):
         self.status = RBAmrStatusSDK()
         self.capability = RBAmrCapabilitySDK()
         self.program = RBAmrProgramSDK()
+        self.sensor = RBAmrSensorSDK()

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_accessory.py

@@ -22,7 +22,7 @@ class RBAmrAccessorySDK(RBBaseSDK):
         if flow_manager_args is None:
             return None
 
-        done_event = asyncio.Event()
+        done_event = self._zenoh_subs_done_event()
         state: dict[str, Any] = {
             "finished": False,
             "error": "",

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_control.py

@@ -14,7 +14,6 @@ from rainbow.rb_flat_buffers.SLAMNAV.RequestGetSafetyField import RequestGetSafe
 from rainbow.rb_flat_buffers.SLAMNAV.RequestGetSafetyFlag import RequestGetSafetyFlagT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestGetSafetyIo import RequestGetSafetyIoT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetAvoid import RequestSetAvoidT
-from rainbow.rb_flat_buffers.SLAMNAV.RequestSetDetectMode import RequestSetDetectModeT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetJog import RequestSetJogT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetLed import RequestSetLedT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetMotor import RequestSetMotorT
@@ -32,7 +31,6 @@ from rainbow.rb_flat_buffers.SLAMNAV.ResponseGetSafetyField import ResponseGetSa
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseGetSafetyFlag import ResponseGetSafetyFlagT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseGetSafetyIo import ResponseGetSafetyIoT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetAvoid import ResponseSetAvoidT
-from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetDetectMode import ResponseSetDetectModeT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetJog import ResponseSetJogT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetLed import ResponseSetLedT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetMotor import ResponseSetMotorT
@@ -76,7 +74,7 @@ class RBAmrControlSDK(RBBaseSDK):
         if req_id is None:
             req_id = str(uuid.uuid4())
 
-        done_event = asyncio.Event()
+        done_event = self._zenoh_subs_done_event()
         state: dict[str, Any] = {
             "finished": False,
             "error": "",
@@ -138,7 +136,7 @@ class RBAmrControlSDK(RBBaseSDK):
                     done_event.set()
                     return
 
-        sub_handle = self.zenoh_client.subscribe(
+        async with self._zenoh_sub_with_close(
             f"amr/{robot_model}/status",
             _on_status,
             flatbuffer_obj_t=StatusT,
@@ -147,25 +145,23 @@ class RBAmrControlSDK(RBBaseSDK):
                 overflow=OverflowPolicy.LATEST_ONLY,
                 parse_dict_payload=False,
             ),
-        )
-        watchdog_task = asyncio.create_task(_watchdog())
-
-        try:
-            await done_event.wait()
-            if state["error"] != "":
-                raise RuntimeError(state["error"])
-        except asyncio.CancelledError:
-            pass
-        except Exception as e:
-            all_stop(flow_manager_args=flow_manager_args)
-            raise RuntimeError(str(e)) from e
-        finally:
-            watchdog_task.cancel()
+        ):
+            watchdog_task = asyncio.create_task(_watchdog())
             try:
-                await watchdog_task
+                await done_event.wait()
+                if state["error"] != "":
+                    raise RuntimeError(state["error"])
             except asyncio.CancelledError:
-                print("WATCHDOG CANCELLED", flush=True)
-            sub_handle.close()
+                pass
+            except Exception as e:
+                all_stop(flow_manager_args=flow_manager_args)
+                raise RuntimeError(str(e)) from e
+            finally:
+                watchdog_task.cancel()
+                try:
+                    await watchdog_task
+                except asyncio.CancelledError:
+                    print("WATCHDOG CANCELLED", flush=True)
 
         return None
 
@@ -936,48 +932,6 @@ class RBAmrControlSDK(RBBaseSDK):
 
         return result["obj_payload"]
 
-    def control_set_detect_mode(
-        self,
-        robot_model: str,
-        switch: bool,
-        req_id: str | None = None,
-        flow_manager_args: FlowManagerArgs | None = None,
-    ) -> ResponseSetDetectModeT:
-        """
-        [탐지 모드 제어]
-        - req_id: 요청 ID
-        - switch: 탐지 모드 켜기/끄기 (True: 켜기, False: 끄기)
-        - ResponseSetDetectModeT 객체 반환
-        """
-
-        if req_id is None:
-            req_id = str(uuid.uuid4())
-
-        # 1) RequestSetDetectModeT 객체 생성
-        req = RequestSetDetectModeT()
-        req.id = req_id
-        req.switch = switch
-
-        # 2) 요청 전송
-        result = self.zenoh_client.query_one(
-            f"amr/{robot_model}/control/setDetectMode",
-            flatbuffer_req_obj=req,
-            flatbuffer_res_T_class=ResponseSetDetectModeT,
-            flatbuffer_buf_size=125,
-            timeout=3,
-        )
-
-        # 3) 결과 처리 및 반환
-        if result.get("obj_payload") is None:
-            raise RuntimeError("Call Control Motor failed: obj_payload is None")
-
-        if flow_manager_args is not None:
-            if result["dict_payload"].get("result") == "accept":
-                flow_manager_args.done()
-            else:
-                raise RuntimeError(result["dict_payload"].get("message"))
-
-        return result["obj_payload"]
 
     # def control_sensor_mode(self, robot_model: str, req_id: str, command: str, control: bool, frequency: int) -> ResponseSensorModeT:
     #     """

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_localization.py

@@ -43,7 +43,7 @@ class RBAmrLocalizationSDK(RBBaseSDK):
         if req_id is None:
             req_id = str(uuid.uuid4())
 
-        done_event = asyncio.Event()
+        done_event = self._zenoh_subs_done_event()
         state: dict[str, Any] = {"finished": False, "error": ""}
 
         def all_stop(*, flow_manager_args: FlowManagerArgs | None = None):
@@ -85,7 +85,7 @@ class RBAmrLocalizationSDK(RBBaseSDK):
                 done_event.set()
                 raise e
 
-        sub_handle = self.zenoh_client.subscribe(
+        async with self._zenoh_sub_with_close(
             f"amr/{robot_model}/status",
             _on_status,
             flatbuffer_obj_t=StatusT,
@@ -94,19 +94,16 @@ class RBAmrLocalizationSDK(RBBaseSDK):
                 overflow=OverflowPolicy.LATEST_ONLY,
                 parse_dict_payload=False,
             ),
-        )
-
-        try:
-            await done_event.wait()
-            if state["error"] != "":
-                raise RuntimeError(state["error"])
-        except asyncio.CancelledError:
-            pass
-        except Exception as e:
-            all_stop(flow_manager_args=flow_manager_args)
-            raise RuntimeError(str(e)) from e
-        finally:
-            sub_handle.close()
+        ):
+            try:
+                await done_event.wait()
+                if state["error"] != "":
+                    raise RuntimeError(state["error"])
+            except asyncio.CancelledError:
+                pass
+            except Exception as e:
+                all_stop(flow_manager_args=flow_manager_args)
+                raise RuntimeError(str(e)) from e
 
         return None
 

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_map.py

@@ -56,7 +56,7 @@ class RBAmrMapSDK(RBBaseSDK):
         if flow_manager_args is None:
             return None
 
-        done_event = asyncio.Event()
+        done_event = self._zenoh_subs_done_event()
         state: dict[str, Any] = {
             "finished": False,
             "error": "",
@@ -114,7 +114,7 @@ class RBAmrMapSDK(RBBaseSDK):
                     done_event.set()
                     return
 
-        sub_handle = self.zenoh_client.subscribe(
+        async with self._zenoh_sub_with_close(
             f"amr/{robot_model}/status",
             _on_status,
             flatbuffer_obj_t=StatusT,
@@ -123,26 +123,23 @@ class RBAmrMapSDK(RBBaseSDK):
                 overflow=OverflowPolicy.LATEST_ONLY,
                 parse_dict_payload=False,
             ),
-        )
-        watchdog_task = asyncio.create_task(_watchdog())
-
-
-        try:
-            await done_event.wait()
-            if state["error"] != "":
-                raise RuntimeError(state["error"])
-        except asyncio.CancelledError:
-            pass
-        except Exception as e:
-            all_stop(flow_manager_args=flow_manager_args)
-            raise RuntimeError(str(e)) from e
-        finally:
-            watchdog_task.cancel()
+        ):
+            watchdog_task = asyncio.create_task(_watchdog())
             try:
-                await watchdog_task
+                await done_event.wait()
+                if state["error"] != "":
+                    raise RuntimeError(state["error"])
             except asyncio.CancelledError:
-                print("WATCHDOG CANCELLED", flush=True)
-            sub_handle.close()
+                pass
+            except Exception as e:
+                all_stop(flow_manager_args=flow_manager_args)
+                raise RuntimeError(str(e)) from e
+            finally:
+                watchdog_task.cancel()
+                try:
+                    await watchdog_task
+                except asyncio.CancelledError:
+                    print("WATCHDOG CANCELLED", flush=True)
 
         return None
 

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_move.py

@@ -7,6 +7,7 @@ from typing import Any
 from rainbow.rb_flat_buffers.SLAMNAV.MoveJog import MoveJogT
 from rainbow.rb_flat_buffers.SLAMNAV.MovePose import MovePoseT
 from rainbow.rb_flat_buffers.SLAMNAV.MoveStatus import MoveStatusT
+from rainbow.rb_flat_buffers.SLAMNAV.RequestEnqueueAction import RequestEnqueueActionT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMoveCircular import RequestMoveCircularT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMoveGoal import RequestMoveGoalT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMovePause import RequestMovePauseT
@@ -18,6 +19,7 @@ from rainbow.rb_flat_buffers.SLAMNAV.RequestMoveXLinear import RequestMoveXLinea
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMoveYLinear import RequestMoveYLinearT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMultiPath import RequestMultiPathT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestMultiVobs import RequestMultiVobsT
+from rainbow.rb_flat_buffers.SLAMNAV.ResponseEnqueueAction import ResponseEnqueueActionT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseMoveCircular import ResponseMoveCircularT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseMoveGoal import ResponseMoveGoalT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseMovePause import ResponseMovePauseT
@@ -58,7 +60,7 @@ class RBAmrMoveSDK(RBBaseSDK):
         if flow_manager_args is None:
             return None
 
-        done_event = asyncio.Event()
+        done_event = self._zenoh_subs_done_event()
         state: dict[str, Any] = {
             "finished": False,
             "error": "",
@@ -118,7 +120,7 @@ class RBAmrMoveSDK(RBBaseSDK):
 
                 await asyncio.sleep(interval_sec)
 
-        sub_handle = self.zenoh_client.subscribe(
+        async with self._zenoh_sub_with_close(
             f"amr/{robot_model}/moveStatus",
             _on_move_status,
             flatbuffer_obj_t=MoveStatusT,
@@ -127,25 +129,23 @@ class RBAmrMoveSDK(RBBaseSDK):
                 overflow=OverflowPolicy.LATEST_ONLY,
                 parse_dict_payload=False,
             ),
-        )
-        watchdog_task = asyncio.create_task(_watchdog())
-
-        try:
-            await done_event.wait()
-            if state["error"] != "":
-                raise RuntimeError(state["error"])
-        except asyncio.CancelledError:
-            pass
-        except Exception as e:
-            all_stop(flow_manager_args=flow_manager_args)
-            raise RuntimeError(str(e)) from e
-        finally:
-            watchdog_task.cancel()
+        ):
+            watchdog_task = asyncio.create_task(_watchdog())
             try:
-                await watchdog_task
+                await done_event.wait()
+                if state["error"] != "":
+                    raise RuntimeError(state["error"])
             except asyncio.CancelledError:
-                print("WATCHDOG CANCELLED", flush=True)
-            sub_handle.close()
+                pass
+            except Exception as e:
+                all_stop(flow_manager_args=flow_manager_args)
+                raise RuntimeError(str(e)) from e
+            finally:
+                watchdog_task.cancel()
+                try:
+                    await watchdog_task
+                except asyncio.CancelledError:
+                    print("WATCHDOG CANCELLED", flush=True)
         return None
 
 
@@ -730,3 +730,35 @@ class RBAmrMoveSDK(RBBaseSDK):
             )
 
         return result["obj_payload"]
+
+    def send_multi_enqueue(self, robot_model: str, action_id: str, predecessor_id: str, from_node: str, to_node: str) -> ResponseEnqueueActionT:
+        """
+        [멀티 edgeAction을 추가]
+        - robot_model: 로봇
+        - action_id: 액션 ID (UUID)
+        - predecessor_id: 로봇 현재 tail의 action_id
+        - from_node:
+        - to_node:
+        - flow_manager_args: FlowManagerArgs 객체
+        - ResponseMultiPathT 객체 반환
+        """
+        # 1) RequestEnqueueActionT 객체 생성
+        req = RequestEnqueueActionT()
+        req.action_id = action_id
+        req.predecessor_id = predecessor_id
+        req.from_node = from_node
+        req.to_node = to_node
+
+        # 2) 요청 전송
+        result = self.zenoh_client.query_one(
+            f"amr/{robot_model}/multi/enqueue",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=ResponseEnqueueActionT,
+            flatbuffer_buf_size=125,
+        )
+
+        # 3) 결과 처리 및 반환
+        if result["obj_payload"] is None:
+            raise RuntimeError("Call Multi Path failed: obj_payload is None")
+
+        return result["obj_payload"]

{rainbow_rb_sdk-0.0.9.dev29 → rainbow_rb_sdk-0.0.9.dev32}/src/rainbow/rb_sdk/amr_sdk/amr_program.py

@@ -4,8 +4,7 @@ from rainbow.rb_flat_buffers.IPC.Request_MotionResume import Request_MotionResum
 from rainbow.rb_flat_buffers.IPC.Request_ProgramAfter import Request_ProgramAfterT
 from rainbow.rb_flat_buffers.IPC.Request_ProgramBefore import Request_ProgramBeforeT
 from rainbow.rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
-from rainbow.rb_log.log import rb_log
-from rainbow.rb_zenoh.exception import ZenohNoReply, ZenohReplyError
+from rainbow.rb_flat_buffers.SLAMNAV.ResponseCurrentVersion import ResponseCurrentVersionT
 
 from rainbow.rb_sdk.base import RBBaseSDK
 
@@ -74,25 +73,20 @@ class RBAmrProgramSDK(RBBaseSDK):
             option: 프로그램 옵션
         """
 
-        try:
-            req = Request_ProgramBeforeT()
-            req.option = option
+        req = Request_ProgramBeforeT()
+        req.option = option
 
-            res = self.zenoh_client.query_one(
-                f"amr/{robot_model}/call_program_before",
-                flatbuffer_req_obj=req,
-                flatbuffer_res_T_class=Response_FunctionsT,
-                flatbuffer_buf_size=2,
-            )
+        res = self.zenoh_client.query_one(
+            f"amr/{robot_model}/call_program_before",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=2,
+        )
 
-            if res["obj_payload"] is None:
-                raise RuntimeError("Call Program Before failed: obj_payload is None")
+        if res["obj_payload"] is None:
+            raise RuntimeError("Call Program Before failed: obj_payload is None")
 
-            return res["obj_payload"]
-        except (ZenohNoReply, ZenohReplyError) as e:
-            rb_log.error(f"Call Program Before failed: {e}")
-        except Exception as e:
-            raise e
+        return res["obj_payload"]
 
     def call_program_after(self, robot_model: str, option: int) -> Response_FunctionsT:
         """
@@ -102,22 +96,35 @@ class RBAmrProgramSDK(RBBaseSDK):
             robot_model: 로봇 모델명
             option: 프로그램 옵션
         """
-        try:
-            req = Request_ProgramAfterT()
-            req.option = option
-
-            res = self.zenoh_client.query_one(
-                f"amr/{robot_model}/call_program_after",
-                flatbuffer_req_obj=req,
-                flatbuffer_res_T_class=Response_FunctionsT,
-                flatbuffer_buf_size=2,
-            )
-
-            if res["obj_payload"] is None:
-                raise RuntimeError("Call Program After failed: obj_payload is None")
-
-            return res["obj_payload"]
-        except (ZenohNoReply, ZenohReplyError) as e:
-            rb_log.error(f"Call Program After failed: {e}")
-        except Exception as e:
-            raise e
+        req = Request_ProgramAfterT()
+        req.option = option
+
+        res = self.zenoh_client.query_one(
+            f"amr/{robot_model}/call_program_after",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=2,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Call Program After failed: obj_payload is None")
+
+        return res["obj_payload"]
+
+    def get_program_version(self, robot_model: str) -> ResponseCurrentVersionT:
+        """
+        [프로그램 버전 조회 함수]
+
+        Args:
+            robot_model: 로봇 모델명
+        """
+        res = self.zenoh_client.query_one(
+            f"amr/{robot_model}/program/getVersion",
+            flatbuffer_res_T_class=ResponseCurrentVersionT,
+            flatbuffer_buf_size=2,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Get Program Version failed: obj_payload is None")
+
+        return res["obj_payload"]