rainbow-rb-sdk 0.0.9.dev5__tar.gz

rainbow_rb_sdk-0.0.9.dev5/PKG-INFO

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+Metadata-Version: 2.4
+Name: rainbow-rb-sdk
+Version: 0.0.9.dev5
+Summary: Rainbow Python SDK
+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.dev5
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev5
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev5
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev5
+Requires-Dist: rainbow-rb-log==0.0.9.dev5
+
+# rb_sdk 사용 설명서
+
+`rb_sdk`는 Rainbow 서비스 호출을 Python API 형태로 래핑한 통합 SDK입니다.
+
+현재 진입점:
+
+- `RBAmrSDK`
+- `RBManipulateSDK`
+- `RBRby1SDK`
+- `RBBaseSDK`
+
+## 1. 설치/의존성
+
+워크스페이스 기준:
+
+```bash
+cd /Users/kimjongwan/Desktop/workspace/rby2/backend
+uv add rb_sdk --package your_package
+```
+
+`RBRby1SDK`를 사용할 경우 추가로 `rby1-sdk` 설치가 필요합니다.
+
+## 2. 기본 사용
+
+```python
+from rb_sdk import RBAmrSDK, RBManipulateSDK
+
+amr = RBAmrSDK()
+manipulate = RBManipulateSDK()
+```
+
+`rb_sdk`는 lazy import를 사용하므로 `from rb_sdk import ...` 방식으로 가져오면 됩니다.
+
+## 3. AMR SDK
+
+`RBAmrSDK` 하위 모듈:
+
+- `move`
+- `control`
+- `localization`
+- `map`
+- `setting`
+- `file`
+- `status`
+
+```python
+from rb_sdk import RBAmrSDK
+
+sdk = RBAmrSDK()
+# 예: sdk.move.*, sdk.control.* 형태로 기능 호출
+```
+
+## 4. Manipulate SDK
+
+`RBManipulateSDK` 하위 모듈:
+
+- `program`
+- `move`
+- `config`
+- `io`
+- `get_data`
+- `point`
+
+```python
+from rb_sdk import RBManipulateSDK
+
+sdk = RBManipulateSDK()
+# 예: sdk.program.*, sdk.move.*, sdk.io.* 형태로 호출
+```
+
+## 5. RB-Y1 SDK (`RBRby1SDK`)
+
+`RBRby1SDK`는 공식 `rby1-sdk`를 감싸는 래퍼입니다.
+
+```python
+from rb_sdk import RBRby1SDK
+
+sdk = RBRby1SDK(endpoint="192.168.30.1:50051", model=None, auto_connect=True)
+
+print(sdk.connected)
+print(sdk.whoami())
+
+sdk.control.power_on()
+sdk.control.servo_on()
+
+state = sdk.state.get_state()
+print(state)
+
+sdk.disconnect()
+```
+
+지원 메서드:
+
+- 공통
+  - `connect()`
+  - `disconnect()`
+  - `whoami()`
+  - `call(method, *args, **kwargs)`
+- 제어
+  - `control.invoke(...)`
+  - `control.power_on()`
+  - `control.servo_on()`
+- 상태
+  - `state.get_state()`
+
+## 6. Flow Manager 연동 포인트
+
+여러 SDK 메서드는 `flow_manager_args`를 받아 Step 실행 완료 시 `done()` 콜백과 연동되도록 설계되어 있습니다.
+
+```python
+from rb_schemas.sdk import FlowManagerArgs
+from rb_sdk import RBRby1SDK
+
+sdk = RBRby1SDK(endpoint="192.168.30.1:50051")
+
+def step_func(flow_manager_args: FlowManagerArgs | None = None):
+    sdk.control.power_on(flow_manager_args=flow_manager_args)
+```
+
+## 7. 주의사항
+
+- `RBBaseSDK`는 내부적으로 프로세스 단위 공유 리소스를 사용합니다.
+- `RBRby1SDK`는 동일 프로세스에서 최초 `endpoint/model` 기준으로 세션이 공유됩니다.
+- 연결 대상 서비스(zenoh, rby1 endpoint)가 준비되지 않으면 런타임 예외가 발생합니다.

rainbow_rb_sdk-0.0.9.dev5/README.md

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+# rb_sdk 사용 설명서
+
+`rb_sdk`는 Rainbow 서비스 호출을 Python API 형태로 래핑한 통합 SDK입니다.
+
+현재 진입점:
+
+- `RBAmrSDK`
+- `RBManipulateSDK`
+- `RBRby1SDK`
+- `RBBaseSDK`
+
+## 1. 설치/의존성
+
+워크스페이스 기준:
+
+```bash
+cd /Users/kimjongwan/Desktop/workspace/rby2/backend
+uv add rb_sdk --package your_package
+```
+
+`RBRby1SDK`를 사용할 경우 추가로 `rby1-sdk` 설치가 필요합니다.
+
+## 2. 기본 사용
+
+```python
+from rb_sdk import RBAmrSDK, RBManipulateSDK
+
+amr = RBAmrSDK()
+manipulate = RBManipulateSDK()
+```
+
+`rb_sdk`는 lazy import를 사용하므로 `from rb_sdk import ...` 방식으로 가져오면 됩니다.
+
+## 3. AMR SDK
+
+`RBAmrSDK` 하위 모듈:
+
+- `move`
+- `control`
+- `localization`
+- `map`
+- `setting`
+- `file`
+- `status`
+
+```python
+from rb_sdk import RBAmrSDK
+
+sdk = RBAmrSDK()
+# 예: sdk.move.*, sdk.control.* 형태로 기능 호출
+```
+
+## 4. Manipulate SDK
+
+`RBManipulateSDK` 하위 모듈:
+
+- `program`
+- `move`
+- `config`
+- `io`
+- `get_data`
+- `point`
+
+```python
+from rb_sdk import RBManipulateSDK
+
+sdk = RBManipulateSDK()
+# 예: sdk.program.*, sdk.move.*, sdk.io.* 형태로 호출
+```
+
+## 5. RB-Y1 SDK (`RBRby1SDK`)
+
+`RBRby1SDK`는 공식 `rby1-sdk`를 감싸는 래퍼입니다.
+
+```python
+from rb_sdk import RBRby1SDK
+
+sdk = RBRby1SDK(endpoint="192.168.30.1:50051", model=None, auto_connect=True)
+
+print(sdk.connected)
+print(sdk.whoami())
+
+sdk.control.power_on()
+sdk.control.servo_on()
+
+state = sdk.state.get_state()
+print(state)
+
+sdk.disconnect()
+```
+
+지원 메서드:
+
+- 공통
+  - `connect()`
+  - `disconnect()`
+  - `whoami()`
+  - `call(method, *args, **kwargs)`
+- 제어
+  - `control.invoke(...)`
+  - `control.power_on()`
+  - `control.servo_on()`
+- 상태
+  - `state.get_state()`
+
+## 6. Flow Manager 연동 포인트
+
+여러 SDK 메서드는 `flow_manager_args`를 받아 Step 실행 완료 시 `done()` 콜백과 연동되도록 설계되어 있습니다.
+
+```python
+from rb_schemas.sdk import FlowManagerArgs
+from rb_sdk import RBRby1SDK
+
+sdk = RBRby1SDK(endpoint="192.168.30.1:50051")
+
+def step_func(flow_manager_args: FlowManagerArgs | None = None):
+    sdk.control.power_on(flow_manager_args=flow_manager_args)
+```
+
+## 7. 주의사항
+
+- `RBBaseSDK`는 내부적으로 프로세스 단위 공유 리소스를 사용합니다.
+- `RBRby1SDK`는 동일 프로세스에서 최초 `endpoint/model` 기준으로 세션이 공유됩니다.
+- 연결 대상 서비스(zenoh, rby1 endpoint)가 준비되지 않으면 런타임 예외가 발생합니다.

rainbow_rb_sdk-0.0.9.dev5/pyproject.toml

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+[build-system]
+requires = ["setuptools>=69", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rainbow-rb-sdk"
+version = "0.0.9.dev5"
+requires-python = ">=3.12,<3.13"
+description = "Rainbow Python SDK"
+authors = [
+    { name = "Derek", email = "dfd1123@rainbow-robotics.com" },
+]
+readme = "README.md"
+
+dependencies = [
+    "rainbow-rb-utils==0.0.9.dev5",
+    "rainbow-rb-zenoh==0.0.9.dev5",
+    "rainbow-rb-flat-buffers==0.0.9.dev5",
+    "rainbow-rb-schemas==0.0.9.dev5",
+    "rainbow-rb-log==0.0.9.dev5",
+]
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["src"]
+include = ["rainbow.rb_sdk*"]
+
+[tool.setuptools.package-data]
+"*" = ["py.typed"]

rainbow_rb_sdk-0.0.9.dev5/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

rainbow_rb_sdk-0.0.9.dev5/src/rainbow/rb_sdk/__init__.py

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+"""Rainbow Robotics SDK package.
+
+이 패키지는 문서 빌드 중에 종속성을 방지하기 위해 lazy import를 사용하여 선택된 SDK 진입점을 제공합니다.
+"""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+__all__ = ["RBAmrSDK", "RBManipulateSDK", "RBBaseSDK", "RBRby1SDK"]
+
+# 타입체커/IDE(자동완성)용: 여기서는 import 해도 런타임에 실행되지 않음
+if TYPE_CHECKING:
+    from .amr import RBAmrSDK
+    from .base import RBBaseSDK
+    from .manipulate import RBManipulateSDK
+    from .rby1 import RBRby1SDK
+
+
+def __getattr__(name: str):
+    if name == "RBManipulateSDK":
+        from .manipulate import RBManipulateSDK  # noqa: PLC0415
+        return RBManipulateSDK
+
+    if name == "RBBaseSDK":
+        from .base import RBBaseSDK  # noqa: PLC0415
+        return RBBaseSDK
+
+    if name == "RBAmrSDK":
+        from .amr import RBAmrSDK  # noqa: PLC0415
+        return RBAmrSDK
+
+    if name == "RBRby1SDK":
+        from .rby1 import RBRby1SDK  # noqa: PLC0415
+        return RBRby1SDK
+
+    raise AttributeError(name)
+
+
+def __dir__() -> list[str]:
+    # dir(rb_sdk) 결과가 __all__과 일치하게 (IDE/REPL 친화)
+    return sorted(__all__)

rainbow_rb_sdk-0.0.9.dev5/src/rainbow/rb_sdk/amr.py

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+
+
+from rainbow.rb_sdk.amr_sdk.amr_capability import RBAmrCapabilitySDK
+from rainbow.rb_sdk.amr_sdk.amr_program import RBAmrProgramSDK
+
+from .amr_sdk.amr_control import RBAmrControlSDK
+from .amr_sdk.amr_file import RBAmrFileSDK
+from .amr_sdk.amr_localization import RBAmrLocalizationSDK
+from .amr_sdk.amr_map import RBAmrMapSDK
+from .amr_sdk.amr_move import RBAmrMoveSDK
+from .amr_sdk.amr_setting import RBAmrSettingSDK
+from .amr_sdk.amr_status import RBAmrStatusSDK
+from .base import RBBaseSDK
+
+
+class RBAmrSDK(RBBaseSDK):
+    """Rainbow Robotics AMR SDK"""
+
+    move: RBAmrMoveSDK
+    """AMR 이동 관련 SDK 집합"""
+
+    control: RBAmrControlSDK
+    """AMR 제어 관련 SDK 집합"""
+
+    localization: RBAmrLocalizationSDK
+    """AMR 위치 추정 관련 SDK 집합"""
+
+    map: RBAmrMapSDK
+    """AMR 맵 관련 SDK 집합"""
+
+    setting: RBAmrSettingSDK
+    """AMR 설정 관련 SDK 집합"""
+
+    file: RBAmrFileSDK
+    """AMR 파일 관련 SDK 집합"""
+
+    status: RBAmrStatusSDK
+    """AMR 상태 관련 SDK 집합"""
+
+    capability: RBAmrCapabilitySDK
+    """AMR 기능 관련 SDK 집합"""
+
+    program: RBAmrProgramSDK
+    """AMR 프로그램 관련 SDK 집합"""
+
+    def __init__(self):
+        super().__init__(server="amr")
+
+        self.move = RBAmrMoveSDK()
+        self.control = RBAmrControlSDK()
+        self.localization = RBAmrLocalizationSDK()
+        self.map = RBAmrMapSDK()
+        self.setting = RBAmrSettingSDK()
+        self.file = RBAmrFileSDK()
+        self.status = RBAmrStatusSDK()
+        self.capability = RBAmrCapabilitySDK()
+        self.program = RBAmrProgramSDK()

rainbow_rb_sdk-0.0.9.dev5/src/rainbow/rb_sdk/amr_sdk/amr_accessory.py

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+import asyncio
+import uuid
+from contextlib import suppress
+from time import time
+from typing import Any
+
+from rainbow.rb_flat_buffers.SLAMNAV.RequestLiftPower import RequestLiftPowerT
+from rainbow.rb_flat_buffers.SLAMNAV.ResponseLiftPower import ResponseLiftPowerT
+from rainbow.rb_schemas.sdk import FlowManagerArgs
+from rainbow.rb_utils.parser import t_to_dict
+
+from rainbow.rb_sdk.base import RBBaseSDK
+
+
+class RBAmrAccessorySDK(RBBaseSDK):
+    """ Rainbow Robotics AMR Accessory SDK """
+
+    async def _accessory_flow_manager_solver(self, robot_model: str, req_id: str, flow_manager_args: FlowManagerArgs | None = None):
+        """
+        Accessory flow manager solver for AMR.
+        """
+        if flow_manager_args is None:
+            return None
+
+        done_event = asyncio.Event()
+        state: dict[str, Any] = {
+            "finished": False,
+            "error": "",
+            "last_seen": time.monotonic(),
+        }
+
+        def all_stop(*, flow_manager_args: FlowManagerArgs | None = None):
+            """모든 프로세스 정지"""
+            with suppress(Exception):
+                self.zenoh_client.query_one("muscat/stop", payload={})
+            if flow_manager_args is not None:
+                flow_manager_args.done()
+
+        async def _on_status(*, obj_payload=None, unsubscribe=None, **_):
+            if state["finished"] or obj_payload is None:
+                return
+
+            try:
+                flow_manager_args.ctx.check_stop()
+                state["last_seen"] = time.monotonic()
+
+                obj = t_to_dict(obj_payload)
+                print(f"FLOW MANAGER ACCESSORY STATUS >>>>>>>>>>> {obj.get('mapState').get('mapId')} {req_id} {obj.get('mapState').get('mapResult')} ", flush=True)
+
+                # if obj.get("mapState").get("mapId") != req_id:
+                #     raise RuntimeError("Map ID Mismatch")
+
+                # if obj.get("mapState").get("mapResult") == "success":
+                #     print("Map Flow Manager SOLVER DONE", flush=True)
+                #     flow_manager_args.done()
+                #     state["finished"] = True
+                #     if unsubscribe is not None:
+                #         unsubscribe()
+                #     done_event.set()
+                # elif obj.get("mapState").get("mapResult") == "fail":
+                #     raise RuntimeError("Map Load Fail")
+                # elif obj.get("mapState").get("mapResult") == "cancel":
+                #     raise RuntimeError("Map Load Cancel")
+            except Exception as e:
+                state["finished"] = True
+                state["error"] = str(e)
+                if unsubscribe is not None:
+                    unsubscribe()
+                done_event.set()
+
+        async def _watchdog():
+            timeout_sec = 2.0
+            interval_sec = 0.5
+            while not state["finished"]:
+                await asyncio.sleep(interval_sec)
+                if state["finished"]:
+                    return
+                if time.monotonic() - state["last_seen"] > timeout_sec:
+                    state["finished"] = True
+                    state["error"] = "Map Load Fail (Timeout)"
+                    done_event.set()
+                    return
+
+        # sub_handle = self.zenoh_client.subscribe(
+        #     f"amr/{robot_model}/status",
+        #     _on_status,
+        #     flatbuffer_obj_t=StatusT,
+        #     options=SubscribeOptions(
+        #         dispatch="queue",
+        #         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()
+            try:
+                await watchdog_task
+            except asyncio.CancelledError:
+                print("WATCHDOG CANCELLED", flush=True)
+            # sub_handle.close()
+
+        return None
+
+    def set_lift_power(self, robot_model: str, switch: bool, req_id: str | None = None, flow_manager_args: FlowManagerArgs | None = None) -> ResponseLiftPowerT:
+        """
+        [Lift 전원 제어]
+        - robot_model: 로봇 모델
+        - switch: 리프트 전원 스위치 (True: ON, False: OFF)
+        - req_id: 요청 ID (선택 사항)
+        - flow_manager_args: 플로우 매니저 인자 (선택 사항)
+        """
+
+        if req_id is None:
+            req_id = str(uuid.uuid4())
+
+        # 1) RequestLiftPower 객체 생성
+        req = RequestLiftPowerT()
+        req.id = req_id
+        req.switch = switch
+
+        # 2) 요청 전송
+        result = self.zenoh_client.query_one(
+            f"amr/{robot_model}/accessory/lift",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=ResponseLiftPowerT,
+            flatbuffer_buf_size=2048,
+        )
+
+        # 3) 결과 처리 및 반환
+        if result.get("obj_payload") is None:
+            raise RuntimeError("Call Lift Power failed: obj_payload is None")
+
+        if flow_manager_args is not None:
+            print(result["dict_payload"].get("result"))
+            if result["dict_payload"].get("result") == "reject":
+                raise RuntimeError(result["dict_payload"].get("message"))
+
+            self._run_coro_blocking(
+                self._accessory_flow_manager_solver(
+                    robot_model=robot_model,
+                    req_id=req_id,
+                    flow_manager_args=flow_manager_args,
+                )
+            )
+        return result["obj_payload"]
+
+    # def set_foot_pose(self, robot_model: str, foot_pose: FootPoseT, req_id: str | None = None, flow_manager_args: FlowManagerArgs | None = None) -> ResponseFootPoseT:
+    #     """
+    #     [Foot Pose 제어]
+    #     - robot_model: 로봇 모델
+    #     - foot_pose: 발 포즈 정보
+    #     - req_id: 요청 ID (선택 사항)
+    #     - flow_manager_args: 플로우 매니저 인자 (선택 사항)
+    #     """
+
+    #     if req_id is None:
+    #         req_id = str(uuid.uuid4())
+
+    #     # 1) RequestFootMove 객체 생성
+    #     req = RequestFootMoveT()
+    #     req.id = req_id
+    #     req.pose = foot_pose
+
+    #     # 2) 요청 전송
+    #     result = self.zenoh_client.query_one(
+    #         f"amr/{robot_model}/accessory/foot",
+    #         flatbuffer_req_obj=req,
+    #         flatbuffer_res_T_class=ResponseFootMoveT,
+    #         flatbuffer_buf_size=2048,
+    #     )
+
+    #     # 3) 결과 처리 및 반환
+    #     if result.get("obj_payload") is None:
+    #         raise RuntimeError("Call Foot Pose failed: obj_payload is None")
+
+    #     if flow_manager_args is not None:
+    #         print(result["dict_payload"].get("result"))
+    #         if result["dict_payload"].get("result") == "reject":
+    #             raise RuntimeError(result["dict_payload"].get("message"))
+
+    #         self._run_coro_blocking(
+    #             self._accessory_flow_manager_solver(
+    #                 robot_model=robot_model,
+    #                 req_id=req_id,
+    #                 flow_manager_args=flow_manager_args,
+    #             )
+    #         )
+    #     return result["obj_payload"]