rainbow-rb-sdk 0.0.9.dev6__tar.gz → 0.0.9.dev8__tar.gz

{rainbow_rb_sdk-0.0.9.dev6 → rainbow_rb_sdk-0.0.9.dev8}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev6
+Version: 0.0.9.dev8
 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: <3.13,>=3.12
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev6
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev6
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev6
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev6
-Requires-Dist: rainbow-rb-log==0.0.9.dev6
+Requires-Dist: rainbow-rb-utils==0.0.9.dev8
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev8
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev8
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev8
+Requires-Dist: rainbow-rb-log==0.0.9.dev8
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev6 → rainbow_rb_sdk-0.0.9.dev8}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev6"
+version = "0.0.9.dev8"
 requires-python = ">=3.12,<3.13"
 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.dev6",
-    "rainbow-rb-zenoh==0.0.9.dev6",
-    "rainbow-rb-flat-buffers==0.0.9.dev6",
-    "rainbow-rb-schemas==0.0.9.dev6",
-    "rainbow-rb-log==0.0.9.dev6",
+    "rainbow-rb-utils==0.0.9.dev8",
+    "rainbow-rb-zenoh==0.0.9.dev8",
+    "rainbow-rb-flat-buffers==0.0.9.dev8",
+    "rainbow-rb-schemas==0.0.9.dev8",
+    "rainbow-rb-log==0.0.9.dev8",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev6 → rainbow_rb_sdk-0.0.9.dev8}/src/rainbow/rb_sdk/base.py

@@ -11,7 +11,7 @@ import threading
 import urllib.error
 import urllib.request
 from collections.abc import Callable
-from typing import TYPE_CHECKING, Any, ClassVar, Literal, TypeVar, overload
+from typing import TYPE_CHECKING, ClassVar, Literal, TypeVar, overload
 
 from rainbow.rb_flat_buffers.program.RB_Program_Log import RB_Program_LogT
 from rainbow.rb_flat_buffers.program.RB_Program_Log_Type import RB_Program_Log_Type
@@ -27,8 +27,6 @@ from rainbow.rb_zenoh.client import (
 )
 from rainbow.rb_zenoh.exception import ZenohNoReply, ZenohTransportError
 from rainbow.rb_zenoh.schema import SubscribeOptions
-from zenoh import Config
-from zenoh import open as zenoh_open
 
 if TYPE_CHECKING:
     pass
@@ -263,7 +261,6 @@ class RBBaseSDK:
         self._peer_id: str | None = None
         self._peer_common_url: str | None = None
         self._peer_token: str | None = None
-        self._peer_session: Any = None       # 전용 raw Zenoh 세션 (free port)
         self._heartbeat_task: asyncio.Task | None = None
 
         self._initialized = True
@@ -422,6 +419,71 @@ class RBBaseSDK:
             s.bind(("", 0))
             return s.getsockname()[1]
 
+    @staticmethod
+    def _split_endpoint_env(value: str | None) -> list[str]:
+        if not value:
+            return []
+        normalized = value.replace("\n", ",")
+        return [endpoint.strip() for endpoint in normalized.split(",") if endpoint.strip()]
+
+    @staticmethod
+    def _merge_endpoint_env(name: str, endpoint: str) -> None:
+        endpoints = RBBaseSDK._split_endpoint_env(os.getenv(name))
+        if endpoint not in endpoints:
+            endpoints.append(endpoint)
+        os.environ[name] = ",".join(endpoints)
+
+    def _reconnect_shared_zenoh_for_remote_peer(
+        self,
+        *,
+        listen_port: int,
+    ) -> None:
+        """Make the SDK's real query session reachable from remote common.
+
+        ``connect()`` used to open a separate raw Zenoh session for peer tracking,
+        but SDK calls such as ``move_j`` use the process-wide ``ZenohClient``.
+        The shared client must therefore own the externally reachable listen
+        endpoint that common connects to.
+        """
+        self._merge_endpoint_env("ZENOH_PEER_LISTEN_ENDPOINTS", f"tcp/0.0.0.0:{listen_port}")
+
+        zenoh_client = self._refresh_zenoh_client_for_pid(self._pid)
+        with contextlib.suppress(Exception):
+            zenoh_client.close()
+        zenoh_client.connect()
+
+    def _probe_zenoh_mesh(self, keyexpr: str, *, timeout: float) -> bool:
+        try:
+            for _ in self.zenoh_client.query(keyexpr, timeout=timeout):
+                return True
+        except (ZenohNoReply, ZenohTransportError):
+            return False
+        return False
+
+    async def _wait_for_zenoh_mesh(
+        self,
+        *,
+        keyexpr: str,
+        timeout: float,
+        probe_timeout: float,
+        interval: float,
+    ) -> None:
+        loop = asyncio.get_running_loop()
+        deadline = loop.time() + timeout
+
+        while True:
+            if await asyncio.to_thread(self._probe_zenoh_mesh, keyexpr, timeout=probe_timeout):
+                print(f"[SDK] zenoh mesh ready: {keyexpr}", flush=True)
+                return
+
+            remaining = deadline - loop.time()
+            if remaining <= 0:
+                raise RuntimeError(
+                    f"zenoh mesh not ready: no reply from {keyexpr!r} within {timeout:.1f}s"
+                )
+
+            await asyncio.sleep(min(interval, remaining))
+
     @staticmethod
     def _http_json(
         method: str,
@@ -463,13 +525,17 @@ class RBBaseSDK:
         zenoh_port: int | None = None,
         ttl: int = 30,
         heartbeat_interval: float | None = None,
+        mesh_probe_keyexpr: str | None = "robot-state",
+        mesh_timeout: float = 10.0,
+        mesh_probe_timeout: float = 1.0,
+        mesh_probe_interval: float = 0.5,
     ) -> str | None:
         """common 서비스에 외부 Zenoh peer로 등록하고 자동 heartbeat를 시작한다.
 
         common과 같은 PC에서 실행 중이라면 이미 Zenoh 메시가 형성되어 있으므로
         아무것도 하지 않고 ``None`` 을 반환한다.
 
-        내부적으로 전용 Zenoh 세션을 열어 common과 직접 연결한다.
+        내부적으로 SDK 호출이 사용하는 공유 Zenoh 세션을 외부 listen 포트로 재연결한다.
         ``zenoh_port`` 를 생략하면 OS가 빈 포트를 자동으로 배정하므로 충돌이 없다.
 
         Args:
@@ -478,6 +544,10 @@ class RBBaseSDK:
             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.
+            mesh_probe_keyexpr: mesh 형성 확인용 Zenoh query keyexpr. None 이면 확인을 건너뜀.
+            mesh_timeout: mesh 형성 대기 최대 시간(초).
+            mesh_probe_timeout: probe query 1회 timeout(초).
+            mesh_probe_interval: probe 재시도 간격(초).
 
         Returns:
             common이 발급한 peer_id, 또는 같은 PC라서 불필요한 경우 ``None``.
@@ -495,25 +565,7 @@ class RBBaseSDK:
         my_ip = self._detect_local_ip(host)
         free_port = zenoh_port if zenoh_port is not None else self._find_free_port()
         print(f"[SDK] local IP={my_ip}, zenoh port={free_port}", flush=True)
-
-        # 전용 Zenoh 세션: common Zenoh(7447)에 직접 connect + free_port로 listen(gossip용)
-        conf = Config()
-        conf.insert_json5("mode", '"peer"')
-        conf.insert_json5("connect/endpoints", f'["tcp/{host}:7447"]')
-        conf.insert_json5("listen/endpoints", f'{{"peer": ["tcp/0.0.0.0:{free_port}"]}}')
-        conf.insert_json5("scouting/multicast/enabled", "false")
-        conf.insert_json5("scouting/gossip/enabled", "true")
-        conf.insert_json5("scouting/gossip/multihop", "false")
-        conf.insert_json5("scouting/gossip/autoconnect", '{"peer": ["peer"]}')
-        conf.insert_json5(
-            "scouting/gossip/autoconnect_strategy",
-            '{"peer": {"to_peer": "greater-zid", "to_router": "always"}}',
-        )
-        conf.insert_json5("listen/exit_on_failure", "false")
-        conf.insert_json5("connect/timeout_ms", '{"peer": 1000}')
-        conf.insert_json5("transport/shared_memory/enabled", "false")
-
-        self._peer_session = await asyncio.to_thread(zenoh_open, conf)
+        self._reconnect_shared_zenoh_for_remote_peer(listen_port=free_port)
 
         headers = {"Authorization": f"Bearer {token}"}
         payload = {"ip": my_ip, "port": free_port, "ttl": ttl}
@@ -527,6 +579,24 @@ class RBBaseSDK:
         self._peer_common_url = url
         self._peer_token = token
 
+        try:
+            if mesh_probe_keyexpr is not None:
+                await self._wait_for_zenoh_mesh(
+                    keyexpr=mesh_probe_keyexpr,
+                    timeout=mesh_timeout,
+                    probe_timeout=mesh_probe_timeout,
+                    interval=mesh_probe_interval,
+                )
+        except Exception:
+            self._peer_id = None
+            self._peer_common_url = None
+            self._peer_token = None
+            with contextlib.suppress(Exception):
+                await asyncio.to_thread(
+                    self._http_json, "DELETE", f"{url}/zenoh/peer/{peer_id}", None, headers, 5.0
+                )
+            raise
+
         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)
@@ -562,13 +632,6 @@ class RBBaseSDK:
                     self._http_json, "DELETE", f"{url}/zenoh/peer/{peer_id}", None, headers, 5.0
                 )
 
-        # 전용 Zenoh 세션 종료
-        peer_session = self._peer_session
-        self._peer_session = None
-        if peer_session is not None:
-            with contextlib.suppress(Exception):
-                await asyncio.to_thread(peer_session.close)
-
         print(f"[SDK] disconnected zenoh peer {peer_id}", flush=True)
         return True
 

{rainbow_rb_sdk-0.0.9.dev6 → rainbow_rb_sdk-0.0.9.dev8}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev6
+Version: 0.0.9.dev8
 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: <3.13,>=3.12
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev6
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev6
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev6
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev6
-Requires-Dist: rainbow-rb-log==0.0.9.dev6
+Requires-Dist: rainbow-rb-utils==0.0.9.dev8
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev8
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev8
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev8
+Requires-Dist: rainbow-rb-log==0.0.9.dev8
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev8/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev8
+rainbow-rb-zenoh==0.0.9.dev8
+rainbow-rb-flat-buffers==0.0.9.dev8
+rainbow-rb-schemas==0.0.9.dev8
+rainbow-rb-log==0.0.9.dev8
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev6/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev6
-rainbow-rb-zenoh==0.0.9.dev6
-rainbow-rb-flat-buffers==0.0.9.dev6
-rainbow-rb-schemas==0.0.9.dev6
-rainbow-rb-log==0.0.9.dev6
-rby1-sdk>=0.9.1