rby1_sdk.Robot_M_CommandStreamHandler

class Robot_M_CommandStreamHandler

Bases: pybind11_object

Robot (model: Model_M) command stream handler.

Handles robot command execution through streaming with send and feedback capabilities.

is_done

Whether the command execution is complete.

Type:

bool

__init__(*args, **kwargs)

Methods

__init__(*args, **kwargs)
cancel(self)	Cancel the current command execution.
is_done(self)	Check if the command execution is complete.
request_feedback(self[, timeout_ms])	Request feedback from the robot.
send_command(self, builder[, timeout_ms])	Send a command through the stream.
wait(self)
wait_for(self, timeout_ms)	Wait for the command execution to complete.

cancel(self: rby1_sdk.Robot_M_CommandStreamHandler) → None

Cancel the current command execution.

is_done(self: rby1_sdk.Robot_M_CommandStreamHandler) → bool

Check if the command execution is complete.

Returns:

True if command is complete, False otherwise.

Return type:

bool

request_feedback(self: rby1_sdk.Robot_M_CommandStreamHandler, timeout_ms: int = 1000) → rby1_sdk.RobotCommandFeedback

Request feedback from the robot.

Parameters:

timeout_ms (int, optional) – Timeout in milliseconds. Default is 1000.

Returns:

Current feedback information.

Return type:

RobotCommandFeedback

send_command(self: rby1_sdk.Robot_M_CommandStreamHandler, builder: rby1_sdk.RobotCommandBuilder, timeout_ms: int = 1000) → rby1_sdk.RobotCommandFeedback

Send a command through the stream.

Parameters:

• builder (CommandBuilder) – Command builder to send.

• timeout_ms (int, optional) – Timeout in milliseconds. Default is 1000.

Returns:

Current feedback information.

Return type:

RobotCommandFeedback

wait(self: rby1_sdk.Robot_M_CommandStreamHandler) → None

wait_for(self: rby1_sdk.Robot_M_CommandStreamHandler, timeout_ms: int) → bool

Wait for the command execution to complete.

This method blocks until the command is done or cancelled.