Execute Python skills on the connected client and clear stopped activity

.github/workflows/tests.yml

@@ -27,15 +27,15 @@ jobs:
           # ruckig 0.17.3 sdist doesn't build under scikit-build-core 1.0;
           # pre-install the fixed commit until a release lands (pantor/ruckig#262).
           pip install "ruckig @ git+https://github.com/pantor/ruckig@2249d57ffaa19ecdadeaab62daf97857813629ff"
-          pip install -e ".[dev]"
-          # Override the pinned waldoctl with the matching feature branch if one
-          # exists, AFTER ".[dev]" (and with --force-reinstall) so the pinned tag
-          # in pyproject can't clobber it. Deps are kept (no --no-deps): the
-          # refactored waldoctl imports nicegui, which parol6 doesn't otherwise
-          # install. Skipped on main so main CI exercises the released pin.
+          # Resolve the shared contract branch before the package: the new
+          # release tag is created only after its companion PR merges.
           BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF_NAME}}"
           if [ "$BRANCH" != "main" ] && git ls-remote --heads https://github.com/Jepson2k/waldoctl.git "$BRANCH" 2>/dev/null | grep -q .; then
-            pip install --force-reinstall "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@${BRANCH}"
+            sed -i.bak "s#waldoctl.git@v[0-9.]*#waldoctl.git@${BRANCH}#" pyproject.toml
+          fi
+          pip install -e ".[dev]"
+          if [ -f pyproject.toml.bak ]; then
+            mv pyproject.toml.bak pyproject.toml
           fi
       - name: Run pre-commit
         uses: pre-commit/action@v3.0.1
@@ -112,15 +112,15 @@ jobs:
           # ruckig 0.17.3 sdist doesn't build under scikit-build-core 1.0;
           # pre-install the fixed commit until a release lands (pantor/ruckig#262).
           pip install "ruckig @ git+https://github.com/pantor/ruckig@2249d57ffaa19ecdadeaab62daf97857813629ff"
-          pip install -e ".[dev]" pytest-timeout
-          # Override the pinned waldoctl with the matching feature branch if one
-          # exists, AFTER ".[dev]" (and with --force-reinstall) so the pinned tag
-          # in pyproject can't clobber it. Deps are kept (no --no-deps): the
-          # refactored waldoctl imports nicegui, which parol6 doesn't otherwise
-          # install. Skipped on main so main CI exercises the released pin.
+          # Resolve the shared contract branch before the package: the new
+          # release tag is created only after its companion PR merges.
           BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF_NAME}}"
           if [ "$BRANCH" != "main" ] && git ls-remote --heads https://github.com/Jepson2k/waldoctl.git "$BRANCH" 2>/dev/null | grep -q .; then
-            pip install --force-reinstall "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@${BRANCH}"
+            sed -i.bak "s#waldoctl.git@v[0-9.]*#waldoctl.git@${BRANCH}#" pyproject.toml
+          fi
+          pip install -e ".[dev]" pytest-timeout
+          if [ -f pyproject.toml.bak ]; then
+            mv pyproject.toml.bak pyproject.toml
           fi
 
       # Override the pinned pinokin v0.1.6 wheel with the matching-branch

parol6/ack_policy.py

@@ -11,9 +11,9 @@
     CmdType.SIMULATOR,
     CmdType.SELECT_PROFILE,
     CmdType.RESET_STATE,
-    CmdType.WRITE_IO,
     CmdType.SET_TCP_OFFSET,
     CmdType.SET_SHAPES,
+    CmdType.SET_STATUS_RATE,
 }
 
 # Query command types (use request/response, not ACK)
@@ -36,6 +36,7 @@
     CmdType.IS_SIMULATOR,
     CmdType.TCP_OFFSET,
     CmdType.SHAPES,
+    CmdType.STATUS_RATE,
 }
 
 # Streaming commands are fire-and-forget (no ACK needed)
@@ -61,6 +62,7 @@
     CmdType.SELECT_TOOL,
     CmdType.DELAY,
     CmdType.CHECKPOINT,
+    CmdType.WRITE_IO,
     CmdType.TOOL_ACTION,
 }
 

parol6/client/async_client.py

@@ -17,7 +17,13 @@
 from waldoctl import RobotClient as _RobotClientABC, Shape, ShapeWorld, ToolStatus
 from msgspec.structs import asdict
 from waldoctl.shapes import shape_from_wire
-from waldoctl.status import ActionState, ActivityResult, LoopStatsResult, ToolResult
+from waldoctl.status import (
+    ActionState,
+    ActivityResult,
+    LoopStatsResult,
+    StatusRate,
+    ToolResult,
+)
 from waldoctl.tools import ToolSpec
 
 from .. import config as cfg
@@ -65,6 +71,9 @@
     ReachableCmd,
     ResetCmd,
     ResetLoopStatsCmd,
+    SetStatusRateCmd,
+    StatusRateCmd,
+    StatusRateResultStruct,
     ResetStateCmd,
     Response,
     StopCmd,
@@ -202,6 +211,8 @@ def _create_unicast_socket(port: int, host: str) -> socket.socket:
 if TYPE_CHECKING:
     from typing import Protocol
 
+    from parol6.robot import Robot
+
     class _StatusNotifier(Protocol):
         _shared_status: StatusBuffer
         _status_generation: int
@@ -243,18 +254,36 @@ class AsyncRobotClient(_RobotClientABC):
     Query commands: request/response with timeout and simple retry
     """
 
+    _robot: "Robot | None" = None
+
+    @property
+    def robot(self) -> "Robot":
+        """The backend this client drives, built on first read when a bare
+        client (what a user script constructs) supplied none."""
+        if self._robot is None:
+            from parol6.robot import Robot
+
+            self._robot = Robot()
+        return self._robot
+
+    @robot.setter
+    def robot(self, value: "Robot | None") -> None:
+        self._robot = value
+
     def __init__(
         self,
         host: str = "127.0.0.1",
         port: int = 5001,
         timeout: float = 1.0,
         retries: int = 1,
+        robot: "Robot | None" = None,
     ) -> None:
         # host/port are immutable after endpoint creation
         self._host = host
         self._port = port
         self.timeout = timeout
         self.retries = retries
+        self._robot = robot
 
         # Pre-allocated buffers for pose() RPY conversion
         self._R_buf = np.zeros((3, 3), dtype=np.float64)
@@ -931,6 +960,33 @@ async def reset_loop_stats(self) -> int:
         """
         return await self._send(ResetLoopStatsCmd())
 
+    async def set_status_rate(self, hz: float) -> int:
+        """Set the rate the controller broadcasts status at.
+
+        Category: Configuration
+
+        Example:
+            rbt.set_status_rate(100)
+        """
+        return await self._send(SetStatusRateCmd(hz=float(hz)))
+
+    async def status_rate(self) -> StatusRate | None:
+        """Current broadcast rate and the control rate it divides.
+
+        Category: Query
+
+        Example:
+            rate = rbt.status_rate()
+        """
+        resp = await self._request(StatusRateCmd())
+        if not isinstance(resp, StatusRateResultStruct):
+            return None
+        return StatusRate(
+            hz=resp.hz,
+            control_hz=resp.control_hz,
+            servable=tuple(float(v) for v in resp.servable),
+        )
+
     async def select_tool(self, tool_name: str, variant_key: str = "") -> int:
         """Set the active end-effector tool on the controller.
 

parol6/client/dry_run_client.py

@@ -10,7 +10,7 @@
 
 import logging
 from dataclasses import dataclass
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
 
@@ -38,6 +38,7 @@
 import re as _re
 
 import parol6.protocol.wire as _wire
+from waldoctl.commands import CommandKind, command_table
 from ..protocol.wire import (
     HomeCmd,
     SelectToolCmd,
@@ -58,6 +59,9 @@
 from ..utils.error_codes import ErrorCode
 from parol6.tools import get_registry
 
+if TYPE_CHECKING:
+    from parol6.robot import Robot
+
 
 def _pascal_to_snake(name: str) -> str:
     """Convert PascalCase to snake_case: MoveJPose → move_j_pose"""
@@ -77,6 +81,9 @@ def _pascal_to_snake(name: str) -> str:
 
 _UPPER_FIELDS: frozenset[str] = frozenset({"tool_name", "tool_key", "profile"})
 
+_COMMANDS = command_table()
+_AXIS_INDEX: dict[str, int] = {"X": 0, "Y": 1, "Z": 2, "RX": 3, "RY": 4, "RZ": 5}
+
 
 def build_cmd(name: str, *args: Any, **kwargs: Any) -> Any:
     """Build a command struct by method name."""
@@ -163,12 +170,31 @@ class DryRunRobotClient:
     and delay (no-op).
     """
 
+    _robot: Robot | None = None
+
+    @property
+    def robot(self) -> Robot:
+        """The backend this preview stands in for, built on first read when
+        the host constructed the client bare. A real descriptor on the class,
+        so the read never reaches ``__getattr__``'s command dispatch."""
+        if self._robot is None:
+            from parol6.robot import Robot
+
+            self._robot = Robot()
+        return self._robot
+
+    @robot.setter
+    def robot(self, value: Robot | None) -> None:
+        self._robot = value
+
     def __init__(
         self,
         initial_joints_deg: list[float] | None = None,
         max_snapshot_points: int = 200,
         initial_homed: bool = True,
+        robot: Robot | None = None,
     ) -> None:
+        self._robot = robot
         # Reset tool transform — process pool workers persist across
         # invocations, so a previous run's select_tool() leaves a stale
         # TCP offset on the module-level robot singleton.
@@ -572,6 +598,52 @@ def servo_j(
             return self._dispatch(build_cmd("servo_j_pose", pose, **kwargs))
         return self._dispatch(build_cmd("servo_j", angles or [], **kwargs))
 
+    def jog_j(
+        self,
+        joint: int = -1,
+        speed: float = 0.0,
+        duration: float = 0.1,
+        *,
+        joints: list[int] | None = None,
+        speeds: list[float] | None = None,
+        accel: float = 1.0,
+    ) -> DryRunResult | None:
+        """The live client's signature, so a script's jog previews as written."""
+        speed_arr = [0.0] * 6
+        if joints is not None and speeds is not None:
+            for j, s in zip(joints, speeds):
+                speed_arr[j] = s
+        elif joint >= 0:
+            speed_arr[joint] = speed
+        else:
+            raise ValueError("jog_j requires either joint= or joints=/speeds=")
+        return self._dispatch(
+            _wire.JogJCmd(speeds=speed_arr, duration=duration, accel=accel)
+        )
+
+    def jog_l(
+        self,
+        frame: str,
+        axis: str | None = None,
+        speed: float = 0.0,
+        duration: float = 0.1,
+        *,
+        axes: list[str] | None = None,
+        speeds_list: list[float] | None = None,
+        accel: float = 1.0,
+    ) -> DryRunResult | None:
+        vel = [0.0] * 6
+        if axes is not None and speeds_list is not None:
+            for a, s in zip(axes, speeds_list):
+                vel[_AXIS_INDEX[a]] = s
+        elif axis is not None:
+            vel[_AXIS_INDEX[axis]] = speed
+        else:
+            raise ValueError("jog_l requires either axis= or axes=/speeds_list=")
+        return self._dispatch(
+            _wire.JogLCmd(frame=frame, velocities=vel, duration=duration, accel=accel)
+        )
+
     def delay(self, seconds: float = 0.0) -> None:
         pass
 
@@ -586,8 +658,19 @@ def __getattr__(self, name: str) -> Any:
         if name not in _CMD_STRUCTS:
             raise AttributeError(f"'{type(self).__name__}' has no attribute '{name}'")
 
-        def method(*args: Any, **kwargs: Any) -> DryRunResult | None:
-            cmd = build_cmd(name, *args, **kwargs)
-            return self._dispatch(cmd)
+        spec = _COMMANDS.get(name)
+        applies = spec is not None and spec.kind in (
+            CommandKind.SYSTEM,
+            CommandKind.CONTROL,
+        )
+
+        def method(*args: Any, **kwargs: Any) -> DryRunResult | int | None:
+            result = self._dispatch(build_cmd(name, *args, **kwargs))
+            if not applies:
+                return result
+            # A system or control command answers as the live client does:
+            # 1 when it applied, negative when the planner refused it. Its
+            # planner result carries no path a program could wait on.
+            return -1 if result is not None and result.error is not None else 1
 
         return method