Merge pull request #22 from JuBiotech/pep-561-marker

cpr-bar · web-flow · commit b27eba5cd665 · 2025-12-05T09:49:21.000+01:00
Add PEP 561 marker, fix docstring formatting and make `MotionType` easier to access
diff --git a/cri_lib/__init__.py b/cri_lib/__init__.py
@@ -2,7 +2,7 @@
 .. include:: ../README.md
 """
 
-from .cri_controller import CRIController
+from .cri_controller import CRIController, MotionType
 from .cri_errors import CRICommandTimeOutError, CRIConnectionError, CRIError
 from .cri_protocol_parser import CRIProtocolParser
 from .robot_state import (
diff --git a/cri_lib/cri_controller.py b/cri_lib/cri_controller.py
@@ -15,6 +15,15 @@
 logger = logging.getLogger(__name__)
 
 
+class MotionType(Enum):
+    """Robot Motion Type for Jogging"""
+
+    Joint = "Joint"
+    CartBase = "CartBase"
+    CartTool = "CartTool"
+    Platform = "Platform"
+
+
 class CRIController:
     """
     Class implementing the CRI network protocol for igus Robot Control.
@@ -25,14 +34,6 @@ class CRIController:
     RECEIVE_TIMEOUT_SEC = 5
     DEFAULT_ANSWER_TIMEOUT = 10.0
 
-    class MotionType(Enum):
-        """Robot Motion Type for Jogging"""
-
-        Joint = "Joint"
-        CartBase = "CartBase"
-        CartTool = "CartTool"
-        Platform = "Platform"
-
     def __init__(self) -> None:
         self.robot_state: RobotState = RobotState()
         self.robot_state_lock = threading.Lock()
@@ -692,6 +693,7 @@ def move_joints_relative(
         acceleration: float | None = None,
     ) -> bool:
         """Relative joint move
+
         Parameters
         ----------
         A1-A6, E1-E3 : float
@@ -764,6 +766,7 @@ def move_cartesian(
         acceleration: float | None = None,
     ) -> bool:
         """Cartesian move
+
         Parameters
         ----------
         X,Y,Z,A,B,C,E1-E3 : float
@@ -838,6 +841,7 @@ def move_base_relative(
         acceleration: float | None = None,
     ) -> bool:
         """Relative cartesian move in base coordinate system
+
         Parameters
         ----------
         X,Y,Z,A,B,C,E1-E3 : float
@@ -914,6 +918,7 @@ def move_tool_relative(
         acceleration: float | None = None,
     ) -> bool:
         """Relative cartesian move in tool coordinate system
+
         Parameters
         ----------
         X,Y,Z,A,B,C,E1-E3 : float
@@ -1508,3 +1513,7 @@ def get_motor_temperatures(
                 return True
         else:
             return False
+
+
+# Monkey patch to maintain backward compatibility
+CRIController.MotionType = MotionType  # type: ignore
diff --git a/cri_lib/cri_protocol_parser.py b/cri_lib/cri_protocol_parser.py
@@ -33,13 +33,14 @@ def parse_message(
         self, message: str
     ) -> dict[str, str] | dict[str, str | None] | None:
         """Parses a message to the RobotState of the class.
-        Parameters:
-        -----------
+
+        Parameters
+        ----------
         message: str
             Message to be parsed including `CRISTART` and `CRIEND`
 
-        Returns:
-        --------
+        Returns
+        -------
         None | dict[str, str]
             None if no Notification in necessary or
             a dict indicating which answer event to notify (key: "answer") and optionally an error message (key: "error")
@@ -113,10 +114,10 @@ def _parse_status(self, parameters: list[str]) -> None:
         """
         Parses a state message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `STATUS` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `STATUS` and `CRIEND`
         """
         segment_start_idx = 0
 
@@ -289,10 +290,10 @@ def _parse_runstate(self, parameters: list[str]) -> None:
         """
         Parses a runstate message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `RUNSTATE` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `RUNSTATE` and `CRIEND`
         """
         with self.robot_state_lock:
             if parameters[0] == "MAIN":
@@ -314,10 +315,10 @@ def _parse_cyclestat(self, parameters: list[str]) -> None:
         """
         Parses a cyclestat message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `CYCLESTAT` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `CYCLESTAT` and `CRIEND`
         """
         with self.robot_state_lock:
             self.robot_state.cycle_time = float(parameters[0])
@@ -327,10 +328,10 @@ def _parse_gripperstate(self, parameters: list[str]) -> None:
         """
         Parses a gripperstate message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `GRIPPERSTATE` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `GRIPPERSTATE` and `CRIEND`
         """
         with self.robot_state_lock:
             self.robot_state.gripper_state = float(parameters[0])
@@ -339,10 +340,10 @@ def _parse_variables(self, parameters: Sequence[str]) -> None:
         """
         Parses a variables message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `VARIABLES` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `VARIABLES` and `CRIEND`
         """
         variables: dict[str, float | PosVariable] = {}
         idx = 0
@@ -370,10 +371,10 @@ def _parse_opinfo(self, parameters: Sequence[str]) -> None:
         """
         Parses a opinfo message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `OPINFO` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `OPINFO` and `CRIEND`
         """
         values = []
         for i in range(7):
@@ -386,13 +387,13 @@ def _parse_cmd(self, parameters: Sequence[str]) -> str | None:
         """
         Parses a cmd message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `CMD` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `CMD` and `CRIEND`
 
-        Returns:
-        --------
+        Returns
+        -------
         str:
             id of answer event
         """
@@ -414,10 +415,10 @@ def _parse_message_message(self, parameters: Sequence[str]) -> None:
         """
         Parses a message message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `MESSAGE` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `MESSAGE` and `CRIEND`
         """
         if parameters[0] == "RobotControl":
             if parameters[1] == "Version":
@@ -468,15 +469,15 @@ def _parse_can_bridge(self, parameters: Sequence[str]) -> dict[str, Any] | None:
         parameters: list[str]
             List of splitted strings between `CANBridge` and `CRIEND`
 
-        Returns:
-        --------
+        Returns
+        -------
         dict[str, any] | None
             dict with the following keys:
-                id: CAN id
-                length: length of CAN packet
-                data: bytearray with can message
-                time: timestamp from CRI, 0 at the moment
-                system_time: system timestamp vrom CRI
+            - id: CAN id
+            - length: length of CAN packet
+            - data: bytearray with can message
+            - time: timestamp from CRI, 0 at the moment
+            - system_time: system timestamp vrom CRI
         """
         if parameters[0] != "Msg":
             return None
@@ -521,10 +522,10 @@ def _parse_config(self, parameters: Sequence[str]) -> None:
         """
         Parses a config message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `CONFIG` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `CONFIG` and `CRIEND`
         """
         if parameters[0] == "ProjectFile":
             with self.robot_state_lock:
@@ -533,13 +534,13 @@ def _parse_config(self, parameters: Sequence[str]) -> None:
     def _parse_cmderror(self, parameters: Sequence[str]) -> dict[str, str]:
         """Parses a CMDERROR message to notify calling function
 
-        Parameters:
-        -----------
+        Parameters
+        ----------
         parameters: list[str]
             List of splitted strings between `CMDERROR` and `CRIEND`
 
-        Returns:
-        --------
+        Returns
+        -------
         dict[str, str]
             A dict indicating which message id to notify (key: "answer") and the error message (key: "error")
         """
@@ -550,10 +551,10 @@ def _parse_info(self, parameters: list[str]) -> str | None:
         """
         Parses a info message to the robot state.
 
-        Parameters:
-        -----------
-            parameters: list[str]
-                List of splitted strings between `INFO` and `CRIEND`
+        Parameters
+        ----------
+        parameters: list[str]
+            List of splitted strings between `INFO` and `CRIEND`
         """
         if parameters[0] == "ReferencingInfo":
             # handle bug in RobotControl with missing space before 'Mandatory'
@@ -603,13 +604,13 @@ def _parse_info(self, parameters: list[str]) -> str | None:
     def _parse_execerror(self, parameters: Sequence[str]) -> dict[str, str]:
         """Parses a EXECERROR message to notify calling function
 
-        Parameters:
-        -----------
+        Parameters
+        ----------
         parameters: list[str]
             List of splitted strings between `EXECERROR` and `CRIEND`
 
-        Returns:
-        --------
+        Returns
+        -------
         dict[str, str]
             A dict indicating which message id to notify (key: "answer") and the error message (key: "error")
         """
@@ -621,15 +622,15 @@ def _split_quotes_aware(msg: str) -> Sequence[str]:
         """
         Splits a string at whitespaces but ignores whitespace whithin quotes.
 
-        Parameters:
-        -----------
-            msg: str
-                String to be splitted
+        Parameters
+        ----------
+        msg: str
+            String to be splitted
 
-        Returns:
-        --------
-            list[str]
-                list containing the splitted parts of the string
+        Returns
+        -------
+        list[str]
+            list containing the splitted parts of the string
         """
         parts = []
         current_part = ""
diff --git a/cri_lib/py.typed b/cri_lib/py.typed
diff --git a/pyproject.toml b/pyproject.toml
@@ -12,5 +12,8 @@ dependencies = []
 [tool.setuptools]
 packages = ["cri_lib"]
 
+[tool.setuptools.package-data]
+"cri_lib" = ["py.typed"]
+
 [tool.isort]
 profile = "black"
