urkit 0.4.1__tar.gz → 0.4.3__tar.gz

{urkit-0.4.1 → urkit-0.4.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.4.1
+Version: 0.4.3
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -94,6 +94,11 @@ The `-U` (upgrade) flag ensures you always get the latest version. This project
 
 Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 
+### Platform Support
+
+- **Linux, macOS**: fully supported
+- **Windows**: the Python library works on Windows. The interactive CLIs (`urkit teach`, `urkit points`) run on Windows but are **not fully tested and not officially supported**. A warning is printed at startup. If you hit input or console problems, use Linux, macOS, or WSL2
+
 ### Robot Setup (one-time)
 
 1. **Network**: Connect your PC to the robot via Ethernet cable (direct) or a switch.
@@ -663,7 +668,7 @@ Default is `None` (controller handles IK natively). Set it globally when most of
 
 #### Point Management
 
-Points are stored in the active TCP frame, so they work with any tool. Swap grippers and your saved points stay valid.
+Points are stored as absolute TCP poses in the robot base frame. When you move to a point, the controller moves whatever TCP is currently active to that base-frame pose, so the tool tip lands at the same physical location. Change the TCP offset (or swap grippers) and your saved points stay valid.
 
 ```python
 robot.save_point("here")

{urkit-0.4.1 → urkit-0.4.3}/README.md

@@ -68,6 +68,11 @@ The `-U` (upgrade) flag ensures you always get the latest version. This project
 
 Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 
+### Platform Support
+
+- **Linux, macOS**: fully supported
+- **Windows**: the Python library works on Windows. The interactive CLIs (`urkit teach`, `urkit points`) run on Windows but are **not fully tested and not officially supported**. A warning is printed at startup. If you hit input or console problems, use Linux, macOS, or WSL2
+
 ### Robot Setup (one-time)
 
 1. **Network**: Connect your PC to the robot via Ethernet cable (direct) or a switch.
@@ -637,7 +642,7 @@ Default is `None` (controller handles IK natively). Set it globally when most of
 
 #### Point Management
 
-Points are stored in the active TCP frame, so they work with any tool. Swap grippers and your saved points stay valid.
+Points are stored as absolute TCP poses in the robot base frame. When you move to a point, the controller moves whatever TCP is currently active to that base-frame pose, so the tool tip lands at the same physical location. Change the TCP offset (or swap grippers) and your saved points stay valid.
 
 ```python
 robot.save_point("here")

{urkit-0.4.1 → urkit-0.4.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.4.1"
+version = "0.4.3"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.4.1 → urkit-0.4.3}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.4.1"
+__version__ = "0.4.3"
 
 
 from urkit.exceptions import (

{urkit-0.4.1 → urkit-0.4.3}/src/urkit/cli/connection_monitor.py

@@ -144,10 +144,17 @@ class ConnectionMonitor:
         logger.info("Connection monitor loop exited")
 
     def _trigger(self, reason: str) -> None:
-        """Record fault reason and send SIGALRM to interrupt blocking calls."""
+        """Record fault reason and send SIGALRM to interrupt blocking calls.
+
+        On Windows there is no self-signal: the fault_detected flag is
+        the only interruption path, and callers poll it between and
+        after RTDE calls.
+        """
         self._reason = reason
         self._fault_event.set()
         logger.info("Fault detected: %s", reason)
+        if not hasattr(signal, "SIGALRM"):
+            return
         try:
             os.kill(os.getpid(), signal.SIGALRM)
         except OSError as e:

{urkit-0.4.1 → urkit-0.4.3}/src/urkit/cli/points.py

@@ -9,9 +9,7 @@ from __future__ import annotations
 
 import difflib
 import io
-import select
 import sys
-import termios
 import time
 from pathlib import Path
 
@@ -20,6 +18,7 @@ from rich.table import Table
 
 from urkit.config import _load_config as load_config
 from urkit.cli.colors import blue, cyan, dim, yellow
+from urkit.cli.terminal import RawTerminal, read_burst, wait_input, warn_if_windows
 from urkit.points import Points
 
 
@@ -29,6 +28,7 @@ def points_command(args) -> None:
     Args:
         args: Parsed arguments from argparse (with points subcommand attributes).
     """
+    warn_if_windows()
     _explore_points(args)
 
 
@@ -120,12 +120,8 @@ def _interactive_points_filter(points_db: Points, all_points: list[str], points_
     refresh_error = None
 
     # Set terminal to raw mode
-    old_settings = termios.tcgetattr(sys.stdin)
-    new_settings = termios.tcgetattr(sys.stdin)
-    new_settings[3] = new_settings[3] & ~(termios.ICANON | termios.ECHO)
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, new_settings)
-
-    fd = sys.stdin.fileno()
+    raw = RawTerminal()
+    raw.enable()
 
     try:
         while True:
@@ -238,52 +234,59 @@ def _interactive_points_filter(points_db: Points, all_points: list[str], points_
                 last_refresh = time.time()
 
             # Check for input (non-blocking to allow periodic refresh)
-            rlist, _, _ = select.select([fd], [], [], 0.1)
-            if not rlist:
+            if not wait_input(0.1):
                 continue
 
-            # Read input
+            # Read the full input burst. On Unix an arrow key arrives as
+            # \x1b[A in the same burst; on Windows the terminal shim
+            # translates arrow keys to the same byte sequence.
             try:
-                ch = sys.stdin.read(1)
+                text = read_burst(0.0).decode("ascii", errors="replace")
             except Exception:
                 break
+            if not text:
+                continue
 
-            if ch == "\x1b":  # ESC or arrow key or function key
-                # Use longer timeout to reliably detect sequences
-                rlist, _, _ = select.select([fd], [], [], 0.2)
-                if rlist:
-                    # There's more input, likely an arrow or function key sequence
-                    try:
-                        ch2 = sys.stdin.read(1)
-                        if ch2 == "[":
-                            ch3 = sys.stdin.read(1)
-                            if ch3 == "A":  # Up arrow - scroll up
-                                scroll = max(0, scroll - 1)
-                                needs_redraw = True
-                            elif ch3 == "B":  # Down arrow - scroll down
-                                filtered = [p for p in all_points_sorted if filter_str == "" or filter_str.lower() in p.lower()]
-                                scroll = min(len(filtered) - 1, scroll + 1) if filtered else 0
-                                needs_redraw = True
-                    except Exception:
-                        break
+            if text.startswith("\x1b"):  # ESC or arrow key or function key
+                # A bare ESC may still be the first byte of a sequence
+                # that arrives late; wait a bit before treating it as quit.
+                if text == "\x1b":
+                    text = text + read_burst(0.2).decode("ascii", errors="replace")
+                if "[A" in text:  # Up arrow - scroll up
+                    scroll = max(0, scroll - 1)
+                    needs_redraw = True
+                elif "[B" in text:  # Down arrow - scroll down
+                    filtered = [p for p in all_points_sorted if filter_str == "" or filter_str.lower() in p.lower()]
+                    scroll = min(len(filtered) - 1, scroll + 1) if filtered else 0
+                    needs_redraw = True
                 else:
-                    # No more input, so this was just ESC — quit
+                    # Just ESC (or an unrecognized sequence) — quit
+                    break
+            else:
+                # A burst can mix printable chars and backspaces
+                # (fast typing), so process sequentially.
+                quit_requested = False
+                for ch in text:
+                    if ch == "\x03":  # Ctrl+C (raw byte on Windows)
+                        quit_requested = True
+                        break
+                    elif ch == "\x7f" or ch == "\x08":  # Backspace
+                        if filter_str:
+                            filter_str = filter_str[:-1]
+                            scroll = 0
+                            needs_redraw = True
+                    elif ch.isprintable():
+                        filter_str += ch
+                        scroll = 0
+                        needs_redraw = True
+                if quit_requested:
                     break
-            elif ch == "\x7f" or ch == "\x08":  # Backspace
-                if filter_str:
-                    filter_str = filter_str[:-1]
-                    scroll = 0
-                    needs_redraw = True
-            elif ch.isprintable():
-                filter_str += ch
-                scroll = 0
-                needs_redraw = True
 
     except KeyboardInterrupt:
         # Ctrl+C — exit gracefully without traceback
         pass
     finally:
-        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
+        raw.disable()
         sys.stdout.write("\n")