rainbow-rb-sdk 0.0.9.dev7__tar.gz → 0.0.9.dev9__tar.gz

{rainbow_rb_sdk-0.0.9.dev7 → rainbow_rb_sdk-0.0.9.dev9}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev7
+Version: 0.0.9.dev9
 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.dev7
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev7
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev7
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev7
-Requires-Dist: rainbow-rb-log==0.0.9.dev7
+Requires-Dist: rainbow-rb-utils==0.0.9.dev9
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev9
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev9
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev9
+Requires-Dist: rainbow-rb-log==0.0.9.dev9
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev7 → rainbow_rb_sdk-0.0.9.dev9}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev7"
+version = "0.0.9.dev9"
 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.dev7",
-    "rainbow-rb-zenoh==0.0.9.dev7",
-    "rainbow-rb-flat-buffers==0.0.9.dev7",
-    "rainbow-rb-schemas==0.0.9.dev7",
-    "rainbow-rb-log==0.0.9.dev7",
+    "rainbow-rb-utils==0.0.9.dev9",
+    "rainbow-rb-zenoh==0.0.9.dev9",
+    "rainbow-rb-flat-buffers==0.0.9.dev9",
+    "rainbow-rb-schemas==0.0.9.dev9",
+    "rainbow-rb-log==0.0.9.dev9",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev7 → rainbow_rb_sdk-0.0.9.dev9}/src/rainbow/rb_sdk/base.py

@@ -464,18 +464,22 @@ class RBBaseSDK:
         self,
         *,
         keyexpr: str,
-        timeout: float,
+        timeout: float | None,
         probe_timeout: float,
         interval: float,
     ) -> None:
         loop = asyncio.get_running_loop()
-        deadline = loop.time() + timeout
+        deadline = None if timeout is None else 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
 
+            if deadline is None:
+                await asyncio.sleep(interval)
+                continue
+
             remaining = deadline - loop.time()
             if remaining <= 0:
                 raise RuntimeError(
@@ -526,7 +530,7 @@ class RBBaseSDK:
         ttl: int = 30,
         heartbeat_interval: float | None = None,
         mesh_probe_keyexpr: str | None = "robot-state",
-        mesh_timeout: float = 10.0,
+        mesh_timeout: float | None = None,
         mesh_probe_timeout: float = 1.0,
         mesh_probe_interval: float = 0.5,
     ) -> str | None:
@@ -545,7 +549,7 @@ class RBBaseSDK:
             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_timeout: mesh 형성 대기 최대 시간(초). None 이면 응답이 올 때까지 계속 대기.
             mesh_probe_timeout: probe query 1회 timeout(초).
             mesh_probe_interval: probe 재시도 간격(초).
 
@@ -579,6 +583,11 @@ 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)
+        )
+
         try:
             if mesh_probe_keyexpr is not None:
                 await self._wait_for_zenoh_mesh(
@@ -587,7 +596,12 @@ class RBBaseSDK:
                     probe_timeout=mesh_probe_timeout,
                     interval=mesh_probe_interval,
                 )
-        except Exception:
+        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_task = None
             self._peer_id = None
             self._peer_common_url = None
             self._peer_token = None
@@ -597,11 +611,6 @@ class RBBaseSDK:
                 )
             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)
-        )
-
         print(f"[SDK] connected as zenoh peer {peer_id} → {url}  my={my_ip}:{free_port}  ttl={ttl}s  hb={interval}s", flush=True)
         return peer_id
 

{rainbow_rb_sdk-0.0.9.dev7 → rainbow_rb_sdk-0.0.9.dev9}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev7
+Version: 0.0.9.dev9
 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.dev7
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev7
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev7
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev7
-Requires-Dist: rainbow-rb-log==0.0.9.dev7
+Requires-Dist: rainbow-rb-utils==0.0.9.dev9
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev9
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev9
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev9
+Requires-Dist: rainbow-rb-log==0.0.9.dev9
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev9/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev9
+rainbow-rb-zenoh==0.0.9.dev9
+rainbow-rb-flat-buffers==0.0.9.dev9
+rainbow-rb-schemas==0.0.9.dev9
+rainbow-rb-log==0.0.9.dev9
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev7/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev7
-rainbow-rb-zenoh==0.0.9.dev7
-rainbow-rb-flat-buffers==0.0.9.dev7
-rainbow-rb-schemas==0.0.9.dev7
-rainbow-rb-log==0.0.9.dev7
-rby1-sdk>=0.9.1