Metadata-Version: 2.4
Name: arm-p7-sdk
Version: 1.2.8
Summary: Top-Level GRPC SDK for Airbot Robot Arm P7 series.
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# Airbot Arm Client SDK

## 1. 构建 wheel 包

### 1.1 创建开发环境

```bash
uv sync --extra test
```

### 1.2 编译 proto 文件

```bash
uv run bash ./scripts/generate_py_protobuf.bash
```

### 1.3 构建 wheel package

```bash
uv build
```

产物在 `dist/` 下，可安装本地构建或从 GitLab Release 下载的 wheel：

```bash
uv pip install dist/arm_p7_sdk-*.whl
```

## 2. 生成开发板离线安装包

开发板离线安装包用于无公网的 arm P7 开发板，目标环境固定为 Python 3.10、linux_aarch64/aarch64。构建脚本会从 CORA 项目的 `cora-sdk` Generic Package 中自动选择最新的 `cp310-cp310-linux_aarch64` wheel。

如需访问私有 GitLab package，先在 PC 上设置 token（二选一）：

```bash
export GITLAB_TOKEN="<your-gitlab-token>"
# 或 CI 环境：
export CI_JOB_TOKEN="<ci-job-token>"
```

在 PC 上生成带 SDK 版本号和秒级时间戳的离线包：

```bash
uv run python scripts/build_board_bundle.py \
  --cora-package-project "discoverrobotics/s1-internal/platform/cora" \
  --python-version 3.10 \
  --platform linux_aarch64 \
  --output dist/
```

脚本会构建当前 `arm-p7-sdk` wheel，下载 `cora` 私有 wheel 和板端 aarch64 依赖 wheel，生成 `requirements-board.lock`、`manifest.json`，并打包为类似 `sdk-board-bundle-arm_p7_sdk-1.1.0.dev46-py3-none-any-20260617184321.tar.gz` 的文件。文件名中的 SDK wheel 信息来自实际构建出的 wheel，时间戳精确到秒。板端安装完全离线，安装脚本只使用 bundle 内的 `wheelhouse`。

拷贝到开发板并安装：

```bash
scp dist/sdk-board-bundle-arm_p7_sdk-*.tar.gz root@BOARD_IP:~
ssh root@BOARD_IP
tar -xzf sdk-board-bundle-arm_p7_sdk-*.tar.gz
./sdk-board-bundle/install.sh
rm -rf sdk-board-bundle
```

CI 会和 wheel job 一起构建离线包；tag pipeline 或设置 `PUBLISH_COMPONENT=1` 时，会通过 `discoverrobotics/s1-internal/arm-release/release` 中的 component release 模板，将离线包与 wheel/sdist、`checksums.sha256`、`component-manifest.json` 一起上传到 GitLab Generic Package 的 `sdk_client/<COMPONENT_VERSION 或 tag>/` 路径，tag pipeline 还会把离线包作为 release asset 挂到同一个 release 中。非 tag pipeline 发布时必须设置 `COMPONENT_VERSION`。tag pipeline 同时设置 `DO_RELEASE=1` 时，会额外把同一批产物上传到 `discoverrobotics/s1-internal/arm-release/release` 仓库的 Generic Package，并通过当前仓库配置的飞书机器人发送分发通知；私有分发仓库建议在 CI/CD variables 中配置 `RELEASE_PACKAGE_PROJECT_ID`。CI 默认从 `discoverrobotics/s1-internal/platform/cora` 的 GitLab Package Registry `cora-sdk` 包中查找最新的 `cora-*-cp310-cp310-linux_aarch64.whl`。若 CI 的 `CI_JOB_TOKEN` 无法访问私有 `cora` wheel，请在 CI/CD variables 中配置 masked `GITLAB_TOKEN`。

## 3. 运行 example

> 注： **请先安装 python 包和 airbot arm 主程序 deb 包**，运行example前请确保airbot arm服务已正常启动！

### 3.1 查看当前支持的所有 example

```bash
arm-p7-sdk examples list

# 输出应为：
# airbot_example_1f1
# airbot_example_gravity_compensation
# airbot_example_keyboard_control_joint
# airbot_example_move_eef
# airbot_example_move_end_pose
# airbot_example_move_end_pose_circle
# airbot_example_move_end_pose_liner
# airbot_example_move_joint
```

### 3.2 运行指定 example

```bash
arm-p7-sdk examples run <airbot_example>
# 例如：
arm-p7-sdk examples run airbot_example_1f1
```

## 4. 多客户端控制权

新服务端会在 client 建立 transport 后自动注册控制身份并维持独立注册心跳。`source_name`
是服务端配置的优先级类别，`client_name` 是当前 arm_app/authority 运行域内唯一的人类可读
名字，两者不能混用：

```python
from arm_p7_sdk import AirbotClient

with AirbotClient(
    host="192.168.1.10",
    source_name="teleoperation",
    client_name="operator-console-01",
) as arm:
    if not arm.acquire_control(preempt=True):
        raise RuntimeError("failed to acquire control")
```

`client_instance_id` 默认在进程创建 client 时生成 UUID4；注册成功后可从
`get_client_session_id` 查看当前协作 session。服务端根据本地配置决定优先级，客户端不能
提交数值 priority。`default` 可以控制空闲机械臂但永远不能抢占活动 owner。显式
`preempt=True` 只允许已配置的更高优先级非 default source 抢占。

抢占不会 stop、切换 IDLE、重置 FSM、取消已接受轨迹或清除 Servo session。应用必须在
接管前后完成目标对齐和连续过渡。`release_control()` 进入 UNOWNED，不自动恢复旧 owner；
当前 owner 可调用 `handover_to_previous()` 原子交还给最近仍有效的被抢占注册客户端，后者
再次 `acquire_control()` 取得新 lease 并恢复续租。

默认旧式调用仍是 `source_name="default"`。连接旧 gRPC 服务端或缺少 V2 消息/endpoint 的
旧 DDS 环境时，只有 default、非抢占用法可降级 legacy；非 default、抢占和 handback 会
抛出 `UnsupportedOperationError`。legacy 名字唯一性仅 best effort。DDS V2 需要包含
`FsmDdsRoute*Control*V2` 消息的新版 CORA Python wheel；开发板 bundle 必须与对应 ARM APP
一起升级。普通 PC 导入 SDK 仍不会加载 CORA。

注册 session 是协作式身份，不等同于 TLS、DDS Security、用户认证或 ACL。可运行
`airbot_example_control_handover` 查看不发送任何运动命令的抢占/handback 生命周期示例；
DDS 右臂示例命令如下：

```bash
arm-p7-sdk examples run airbot_example_control_handover \
  --backend dds --domain-id 0 --side right
```
