rainbow-rb-sdk 0.0.9.dev8__tar.gz → 0.0.9.dev10__tar.gz

{rainbow_rb_sdk-0.0.9.dev8 → rainbow_rb_sdk-0.0.9.dev10}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev8
+Version: 0.0.9.dev10
 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.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: rainbow-rb-utils==0.0.9.dev10
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev10
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev10
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev10
+Requires-Dist: rainbow-rb-log==0.0.9.dev10
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev8 → rainbow_rb_sdk-0.0.9.dev10}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev8"
+version = "0.0.9.dev10"
 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.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",
+    "rainbow-rb-utils==0.0.9.dev10",
+    "rainbow-rb-zenoh==0.0.9.dev10",
+    "rainbow-rb-flat-buffers==0.0.9.dev10",
+    "rainbow-rb-schemas==0.0.9.dev10",
+    "rainbow-rb-log==0.0.9.dev10",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev8 → rainbow_rb_sdk-0.0.9.dev10}/src/rainbow/rb_sdk/base.py

@@ -33,6 +33,7 @@ if TYPE_CHECKING:
 
 T = TypeVar("T", bound="RBBaseSDK")
 TSubObj = TypeVar("TSubObj")
+ZENOH_MESH_PROBE_KEYEXPR = "muscat/zenoh/ready"
 
 
 class RBBaseSDK:
@@ -464,23 +465,30 @@ class RBBaseSDK:
         self,
         *,
         keyexpr: str,
-        timeout: float,
+        timeout: float | None,
         probe_timeout: float,
         interval: float,
-    ) -> None:
+    ) -> bool:
         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
+                return True
+
+            if deadline is None:
+                await asyncio.sleep(interval)
+                continue
 
             remaining = deadline - loop.time()
             if remaining <= 0:
-                raise RuntimeError(
-                    f"zenoh mesh not ready: no reply from {keyexpr!r} within {timeout:.1f}s"
+                print(
+                    f"[SDK] zenoh mesh still warming up: no reply from {keyexpr!r} "
+                    f"within {timeout:.1f}s",
+                    flush=True,
                 )
+                return False
 
             await asyncio.sleep(min(interval, remaining))
 
@@ -525,8 +533,7 @@ 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_timeout: float | None = None,
         mesh_probe_timeout: float = 1.0,
         mesh_probe_interval: float = 0.5,
     ) -> str | None:
@@ -544,8 +551,8 @@ 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_timeout: mesh 형성 대기 최대 시간(초). None 이면 응답이 올 때까지 계속 대기.
+                timeout이 지나도 peer/heartbeat는 유지하고 connect()는 반환한다.
             mesh_probe_timeout: probe query 1회 timeout(초).
             mesh_probe_interval: probe 재시도 간격(초).
 
@@ -579,15 +586,24 @@ 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(
-                    keyexpr=mesh_probe_keyexpr,
-                    timeout=mesh_timeout,
-                    probe_timeout=mesh_probe_timeout,
-                    interval=mesh_probe_interval,
-                )
-        except Exception:
+            await self._wait_for_zenoh_mesh(
+                keyexpr=ZENOH_MESH_PROBE_KEYEXPR,
+                timeout=mesh_timeout,
+                probe_timeout=mesh_probe_timeout,
+                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_task = None
             self._peer_id = None
             self._peer_common_url = None
             self._peer_token = None
@@ -597,11 +613,6 @@ 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.dev8 → rainbow_rb_sdk-0.0.9.dev10}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev8
+Version: 0.0.9.dev10
 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.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: rainbow-rb-utils==0.0.9.dev10
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev10
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev10
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev10
+Requires-Dist: rainbow-rb-log==0.0.9.dev10
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev10/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev10
+rainbow-rb-zenoh==0.0.9.dev10
+rainbow-rb-flat-buffers==0.0.9.dev10
+rainbow-rb-schemas==0.0.9.dev10
+rainbow-rb-log==0.0.9.dev10
+rby1-sdk>=0.9.1

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

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