urkit 0.4.5__tar.gz → 0.4.6__tar.gz

{urkit-0.4.5 → urkit-0.4.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.4.5
+Version: 0.4.6
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT

{urkit-0.4.5 → urkit-0.4.6}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.4.5"
+version = "0.4.6"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.4.5 → urkit-0.4.6}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.4.5"
+__version__ = "0.4.6"
 
 
 from urkit.exceptions import (

{urkit-0.4.5 → urkit-0.4.6}/src/urkit/cli/points.py

@@ -16,6 +16,7 @@ from pathlib import Path
 from rich.console import Console
 from rich.table import Table
 
+from urkit import __version__
 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
@@ -158,6 +159,7 @@ def _interactive_points_filter(points_db: Points, all_points: list[str], points_
                 # Clear screen and draw header
                 sys.stdout.write("\033[2J\033[1;1H")
                 sys.stdout.write(cyan("  === POINT EXPLORER ===") + "\n")
+                sys.stdout.write(dim(f"  urkit {__version__}") + "\n")
                 sys.stdout.write(dim("  Type to search · ↑↓ scroll · Enter reload · ESC quit") + "\n\n")
                 sys.stdout.write(f"  {blue('Search:')} {filter_str}\n")
                 if refresh_error:

{urkit-0.4.5 → urkit-0.4.6}/src/urkit/cli/teach.py

@@ -19,16 +19,19 @@ import os
 import signal
 import sys
 import time
+import traceback
 from pathlib import Path
 
 import yaml
 
+from urkit import __version__
 from urkit.cli.colors import blue, cyan, dim, green, red, yellow
 from urkit.cli.terminal import (
     RawTerminal,
     input_active,
     read_burst,
     start_interrupt_watcher,
+    stop_interrupt_watcher,
     wait_input,
     warn_if_windows,
 )
@@ -297,6 +300,7 @@ def _draw_screen(
     # Header
     lines.append(dim("=" * width))
     lines.append(cyan("  === URKit Teach Pendant ===").center(width))
+    lines.append(dim(f"  urkit {__version__}").center(width))
     lines.append(cyan(f"  IP: {robot.ip}").center(width))
     if expert_mode:
         lines.append(yellow("  EXPERT MODE").center(width))
@@ -773,6 +777,9 @@ def _submenu_goto_point(
     except URKitConnectionError:
         raise
     except Exception as e:
+        logger.debug(
+            "goto move failed: %s\n%s", e, traceback.format_exc()
+        )
         messages.append(f"Error: {e}")
 
 
@@ -1321,6 +1328,9 @@ def _teach_pendant(
 
                 # Exit
                 if key == "\x1b" or key == "\x03":
+                    # The main loop owns cleanup from here; the watcher
+                    # must not fire a second stop/restore in parallel.
+                    stop_interrupt_watcher()
                     if state["freedrive"]:
                         try:
                             robot.disable_freedrive()
@@ -1366,6 +1376,9 @@ def _teach_pendant(
                         moved = True
                         last_move_t = time.monotonic()
                     except MotionError as e:
+                        logger.debug(
+                            "move key %r failed: %s\n%s", key, e, traceback.format_exc()
+                        )
                         messages.append(f"Error: {e}")
 
                 # --- Step size ---
@@ -1576,6 +1589,7 @@ def _teach_pendant(
             print(f"\n{red('Fault:')} {e}")
         finally:
             # Stop monitor and restore signal handler
+            stop_interrupt_watcher()
             monitor.stop()
             if _old_sigalrm is not None:
                 signal.signal(signal.SIGALRM, _old_sigalrm)

{urkit-0.4.5 → urkit-0.4.6}/src/urkit/cli/terminal.py

@@ -135,6 +135,18 @@ the main reader. Callers set it around their read sections and clear it
 afterwards."""
 
 
+watcher_stop = threading.Event()
+"""Set when the CLI begins its own shutdown (normal exit, fault exit,
+Ctrl+C in the main loop). The Windows interrupt watcher exits quietly
+without firing, so it cannot race the main thread's cleanup (double
+robot stop, double terminal restore)."""
+
+
+def stop_interrupt_watcher() -> None:
+    """Tell the interrupt watcher to exit quietly. No-op on non-Windows."""
+    watcher_stop.set()
+
+
 def start_interrupt_watcher(
     on_fire: Callable[[str], None],
     fault_reason: Callable[[], str | None],
@@ -163,9 +175,24 @@ def start_interrupt_watcher(
     # guard and cannot see the module inside this closure.
     import msvcrt
 
+    def _where_blocked() -> None:
+        # Diagnostic: report where the main thread was stuck so the
+        # next occurrence can be diagnosed (usually a blocking socket
+        # read inside ur_rtde with no timeout).
+        frame = sys._current_frames().get(threading.main_thread().ident)
+        if frame is None:
+            return
+        code = frame.f_code
+        sys.stderr.write(
+            "[urkit] main thread blocked in "
+            f"{os.path.basename(code.co_filename)}:{frame.f_lineno} "
+            f"in {code.co_name}\n"
+        )
+        sys.stderr.flush()
+
     def _run() -> None:
         backoff = 0.0
-        while True:
+        while not watcher_stop.is_set():
             if backoff > 0:
                 time.sleep(backoff)
                 backoff = 0.0
@@ -174,18 +201,29 @@ def start_interrupt_watcher(
                 continue
             reason = fault_reason()
             if reason is not None:
+                _where_blocked()
                 on_fire(reason)
                 return
-            if not msvcrt.kbhit():
-                time.sleep(0.05)
-                continue
-            byte = msvcrt.getch()
+            try:
+                if not msvcrt.kbhit():
+                    time.sleep(0.05)
+                    continue
+                byte = msvcrt.getch()
+            except OSError:
+                # Console is closing (shutdown in progress). The watcher
+                # is best-effort; exit quietly instead of dying with a
+                # traceback that races the main thread's exit.
+                return
             if byte == b"\x03":
+                _where_blocked()
                 on_fire("Interrupted.")
                 return
             # Not Ctrl+C: give the byte back and back off so the main
             # reader (resuming from a blocking call) processes it.
-            msvcrt.ungetch(byte[0])
+            try:
+                msvcrt.ungetch(byte[0])
+            except OSError:
+                return
             backoff = 0.2
 
     watcher = threading.Thread(

{urkit-0.4.5 → urkit-0.4.6}/src/urkit/motion.py

@@ -30,17 +30,26 @@ def _suppress_rtde_stderr() -> Iterator[None]:
     to raw stderr (fd 2) on every call when the script is stopped.
     This context manager suppresses those messages by redirecting fd 2
     around the call.
+
+    Diagnostic: set URKIT_RTDE_STDERR=<path> to capture the suppressed
+    output in a file (append mode) instead. ur_rtde move failures are
+    reported there and nowhere else, so this is the only way to see
+    why a move was rejected.
     """
-    devnull = os.open(os.devnull, os.O_WRONLY)
+    capture_path = os.environ.get("URKIT_RTDE_STDERR")
+    if capture_path:
+        target_fd = os.open(capture_path, os.O_WRONLY | os.O_CREAT | os.O_APPEND)
+    else:
+        target_fd = os.open(os.devnull, os.O_WRONLY)
     old_stderr = os.dup(2)
     try:
-        os.dup2(devnull, 2)
+        os.dup2(target_fd, 2)
         sys.stderr.flush()
         yield
     finally:
         os.dup2(old_stderr, 2)
         os.close(old_stderr)
-        os.close(devnull)
+        os.close(target_fd)
 
 if TYPE_CHECKING:
     from rtde_control import RTDEControlInterface
@@ -151,7 +160,14 @@ class Motion:
                 "movej: joints=%s, vel=%.3f, acc=%.3f, async=%s", joints, vel, acc, asynchronous
             )
             with _suppress_rtde_stderr():
-                self._rtde_c.moveJ(joints, vel, acc, asynchronous=asynchronous)
+                ok = self._rtde_c.moveJ(joints, vel, acc, asynchronous=asynchronous)
+            if ok is False:
+                raise MotionError(
+                    "moveJ rejected by the controller: the RTDE control script "
+                    "stopped, the robot entered a stop state, or the command "
+                    "timed out. Set URKIT_RTDE_STDERR=<file> to capture "
+                    "ur_rtde's error output."
+                )
         except MotionError:
             raise
         except Exception as e:
@@ -197,7 +213,14 @@ class Motion:
                 "movel: pose=%s, vel=%.3f, acc=%.3f, async=%s", pose, vel, acc, asynchronous
             )
             with _suppress_rtde_stderr():
-                self._rtde_c.moveL(pose, vel, acc, asynchronous=asynchronous)
+                ok = self._rtde_c.moveL(pose, vel, acc, asynchronous=asynchronous)
+            if ok is False:
+                raise MotionError(
+                    "moveL rejected by the controller: the RTDE control script "
+                    "stopped, the robot entered a stop state, or the command "
+                    "timed out. Set URKIT_RTDE_STDERR=<file> to capture "
+                    "ur_rtde's error output."
+                )
         except MotionError:
             raise
         except Exception as e:
@@ -249,7 +272,14 @@ class Motion:
                 current, target, frame.name, vel, acc,
             )
             with _suppress_rtde_stderr():
-                self._rtde_c.moveL(target, vel, acc)
+                ok = self._rtde_c.moveL(target, vel, acc)
+            if ok is False:
+                raise MotionError(
+                    "moveL rejected by the controller: the RTDE control script "
+                    "stopped, the robot entered a stop state, or the command "
+                    "timed out. Set URKIT_RTDE_STDERR=<file> to capture "
+                    "ur_rtde's error output."
+                )
         except MotionError:
             raise
         except Exception as e:

{urkit-0.4.5 → urkit-0.4.6}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.4.5
+Version: 0.4.6
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT