Merge pull request #37 from PCrnjak/feat/thin-python-binding

RobotError is waldoctl's; type the sync tools

Author: Jepson2k

parol6/client/sync_client.py

@@ -11,7 +11,7 @@
 from collections.abc import Callable, Coroutine
 from typing import Any, TypeVar, overload
 
-from waldoctl.tools import ToolSpec
+from waldoctl.sync_tools import SyncTool
 
 from waldoctl import PingResult, ToolStatus
 from waldoctl.status import ActivityResult, LoopStatsResult, ToolResult
@@ -131,7 +131,7 @@ def __init__(
         # `from parol6 import RobotClient; rbt = RobotClient(...)` works without
         # going through Robot.create_sync_client(). The Robot factory rebinds
         # these afterwards from the same registry.
-        self._bound_tools: dict[str, ToolSpec] = {}
+        self._bound_tools: dict[str, SyncTool] = {}
         self._bind_default_tools()
 
     def _bind_default_tools(self) -> None:
@@ -146,7 +146,7 @@ def _bind_default_tools(self) -> None:
     # ---------- tool access ----------
 
     @property
-    def tool(self) -> ToolSpec:
+    def tool(self) -> SyncTool:
         """Active bound tool. Raises if no tool has been set."""
         key = (self._inner._active_tool_key or "").upper()
         if not key:

parol6/robot.py

@@ -967,7 +967,7 @@ def create_sync_client(self, **kwargs: Any) -> SyncRobotClient:
         import copy
 
         from parol6.client.sync_client import _run
-        from waldoctl.sync_tools import make_sync_tool
+        from waldoctl.sync_tools import SyncTool, make_sync_tool
 
         host: str = kwargs.get("host", self._host)
         port: int = kwargs.get("port", self._port)
@@ -980,7 +980,7 @@ def create_sync_client(self, **kwargs: Any) -> SyncRobotClient:
             bound_spec._get_status = client._inner._tool_status  # type: ignore[attr-defined, ty:unresolved-attribute]
             async_bound[spec.key] = bound_spec
         client._inner._bound_tools = async_bound
-        bound: dict[str, ToolSpec] = {}
+        bound: dict[str, SyncTool] = {}
         for key, async_tool in async_bound.items():
             bound[key] = make_sync_tool(async_tool, _run)
         client._bound_tools = bound

parol6/server/controller.py

@@ -10,7 +10,7 @@
 import sys
 import threading
 import time
-from dataclasses import dataclass, replace
+from dataclasses import dataclass
 from typing import Any
 
 
@@ -422,7 +422,12 @@ def _tick_tool_cmd(self, state: ControllerState) -> None:
             raw_error = self._tool_cmd.robot_error or make_error(
                 ErrorCode.MOTN_TICK_FAILED, detail=type(self._tool_cmd).__name__
             )
-            state.error = replace(raw_error, command_index=self._tool_cmd_index)
+            # Rebuilt from the wire, not `replace`d: the refusal is an
+            # exception now, and a dataclass replace on one does not
+            # survive the copy the state makes of it.
+            attributed = raw_error.to_wire()
+            attributed[0] = self._tool_cmd_index
+            state.error = RobotError.from_wire(attributed)
             state.action_state = ActionState.ERROR
             state.completed_command_index = max(
                 state.completed_command_index, self._tool_cmd_index

parol6/utils/error_catalog.py

@@ -1,4 +1,4 @@
-"""Structured robot error types and error catalog.
+"""The error catalog: waldoctl's RobotError plus this backend's templates.
 
 RobotError carries KUKA-style structured fields: code, title, cause, effect, remedy.
 The catalog maps ErrorCode → template; make_error() instantiates with runtime params.
@@ -8,45 +8,16 @@
 
 from dataclasses import dataclass
 
-from .error_codes import ErrorCode
-
+from waldoctl.errors import RobotError as _RobotError
 
-@dataclass(frozen=True)
-class RobotError:
-    """Structured error with code, title, cause, effect, and remedy."""
+from .error_codes import ErrorCode
 
-    command_index: int
-    code: int
-    title: str
-    cause: str
-    effect: str
-    remedy: str
 
-    def to_wire(self) -> list:
-        """Serialize to a list for ormsgpack packing."""
-        return [
-            self.command_index,
-            self.code,
-            self.title,
-            self.cause,
-            self.effect,
-            self.remedy,
-        ]
-
-    @staticmethod
-    def from_wire(data: list) -> RobotError:
-        """Reconstruct from a wire-format list."""
-        return RobotError(
-            command_index=data[0],
-            code=data[1],
-            title=data[2],
-            cause=data[3],
-            effect=data[4],
-            remedy=data[5],
-        )
-
-    def __str__(self) -> str:
-        return f"[{self.code}] {self.title}: {self.cause}"
+# The refusal type is the contract's, not this backend's: a frontend
+# represents a refused command the same way whichever arm raised it, and
+# the six fields and the wire list are identical in both directions. An
+# exception rather than a dataclass, so a client can raise it as-is.
+RobotError = _RobotError
 
 
 @dataclass(frozen=True)

pyproject.toml

@@ -46,7 +46,7 @@ dependencies = [
     "psutil>=5.9",
     "msgspec>=0.18",
     "ormsgpack>=1.4.0",
-    "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@v0.10.0",
+    "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@v0.12.0",
 ]
 
 [tool.setuptools.packages.find]

tests/integration/test_shapes_e2e.py

@@ -17,6 +17,8 @@
 import pytest
 
 from parol6 import MotionError, RobotClient
+
+from tests.conftest import free_udp_port
 from waldoctl import Box
 
 pytestmark = pytest.mark.integration
@@ -75,9 +77,10 @@ def test_set_shapes_ack_readback_rejection_and_timeout(
         assert tuple(s.name for s in world.program) == ("table",)
 
         # Unreachable controller → unconfirmed (0), never a fake success.
-        dead = RobotClient(
-            host=ports.server_ip, port=ports.server_port + 91, timeout=0.3
-        )
+        # A port the kernel just handed out and nothing bound: arithmetic on
+        # the live port runs past 65535 whenever the ephemeral range hands
+        # out a high one, which is a connect() overflow, not a dead server.
+        dead = RobotClient(host=ports.server_ip, port=free_udp_port(), timeout=0.3)
         assert dead.set_shapes([box]) == 0
         assert dead.shapes() is None
     finally: