Share waldoctl's RobotError, and take home(calibrate=) from the ABC - #10
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Share waldoctl's RobotError, and take home(calibrate=) from the ABC#10Jepson2k wants to merge 3 commits into
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A frontend represents a refused command the same way whichever backend raised it, so the refusal type is the contract's. Same six fields, same wire list in both directions, and an exception rather than a dataclass, so a client can raise it as-is. make_error, the catalog and extract_robot_error are unchanged. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014Bo12kumRx9PHnY9bL8qgn
RobotError serialises back to the wire and survives copy/pickle, which the controller's state snapshot needs. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014Bo12kumRx9PHnY9bL8qgn
home() matches RobotClient: calibrate re-runs the referencing sequence on an arm that is already homed, which the wire now carries as HomeCmd's force flag. The sync client and robot factory hold SyncTool, the type make_sync_tool actually returns, and a plane keep-out is now an unknown kind on the wire. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014Bo12kumRx9PHnY9bL8qgn
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Wrong repository — this work belongs on PCrnjak/PAROL6-python-API, where it now lives as PR PCrnjak#37, rebuilt on the current upstream main. |
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Replaces #8, which was on a branch name the cross-repo CI matching could not resolve. The chain waldoctl <- par6 <- Waldo-Commander all use
feat/thin-python-binding, so Waldo-Commander's install now picks this branch up instead of falling back to themainpin, which still requires waldoctl v0.10.0 and makes its dependency resolution impossible.RobotError is waldoctl's.
parol6/utils/error_catalog.pyaliases the shared class rather than defining a second one, so a frontend has one error type to represent whatever backend it is driving. The controller re-attributes a tool error by rebuilding it from the wire, because the exception is deep-copied and a dataclassreplaceon it does not survive that.home()matches the ABC.calibrate=Truere-runs the referencing sequence on an arm that is already homed, instead of the planned return to standby. The wire carries it asHomeCmd.force, and the planner's homed fast path honours it. The oldtimeoutkeyword keeps its position aftercalibrate.Typing. The sync client and the robot factory hold
SyncTool, which is whatmake_sync_toolreturns; a redundant cast and an unused suppression go.Tests: 194 unit, 79 integration, all passing against waldoctl on this branch.
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