Carry the active motion profile in the status stream

parol6/client/async_client.py

@@ -242,6 +242,8 @@ def _create_unicast_socket(port: int, host: str) -> socket.socket:
 if TYPE_CHECKING:
     from typing import Protocol
 
+    from waldoctl import Robot as WaldoRobot
+
     from parol6.robot import Robot
 
     class _StatusNotifier(Protocol):
@@ -320,7 +322,13 @@ def robot(self) -> "Robot":
         return self._robot
 
     @robot.setter
-    def robot(self, value: "Robot | None") -> None:
+    def robot(self, value: "WaldoRobot | None") -> None:
+        # The interface takes any backend's robot; this client drives only
+        # its own.
+        if value is not None:
+            from parol6.robot import Robot
+
+            assert isinstance(value, Robot)
         self._robot = value
 
     def __init__(

parol6/protocol/wire.py

@@ -15,7 +15,7 @@
 Wire format uses msgpack arrays with integer type codes:
 - OK:       [MsgType.OK, req_id, index?]
 - ERROR:    [MsgType.ERROR, req_id, message]
-- STATUS:   [MsgType.STATUS, proto_version, pose, angles, speeds, io, action_current, action_state, joint_en, cart_en_wrf, cart_en_trf, executing_index, completed_index, last_checkpoint, error, queued_segments, queued_duration, action_params, tool_status, tcp_speed, simulator_active, collision_active, collision_pairs, scene_epoch, accepted_index, homed, enabled, homing_step, joints_homed, loop_health, drive_faults]
+- STATUS:   [MsgType.STATUS, proto_version, pose, angles, speeds, io, action_current, action_state, joint_en, cart_en_wrf, cart_en_trf, executing_index, completed_index, last_checkpoint, error, queued_segments, queued_duration, action_params, tool_status, tcp_speed, simulator_active, collision_active, collision_pairs, scene_epoch, accepted_index, homed, enabled, homing_step, joints_homed, loop_health, drive_faults, session_id, seq, mono_time_ns, motion_profile]
 - RESPONSE: [MsgType.RESPONSE, req_id, [query_type, ...fields]]
 - COMMAND:  [CmdType.XXX, ...params]
 """
@@ -1692,6 +1692,10 @@ def pack_response(result: Response, req_id: int) -> bytes:
 
 _NO_JOINTS_HOMED: tuple[int, ...] = (0, 0, 0, 0, 0, 0)
 
+# Append-only so existing profile IDs remain stable, without importing the planner.
+_MOTION_PROFILES = ("TOPPRA", "RUCKIG", "QUINTIC", "TRAPEZOID", "LINEAR")
+_MOTION_PROFILE_IDS = {name: index for index, name in enumerate(_MOTION_PROFILES)}
+
 
 def pack_status(
     pose: np.ndarray,
@@ -1727,6 +1731,7 @@ def pack_status(
     session_id: int = 0,
     seq: int = 0,
     mono_time_ns: int = 0,
+    motion_profile: str | None = None,
 ) -> bytes:
     """Pack a status broadcast message.
 
@@ -1781,6 +1786,7 @@ def pack_status(
             session_id,
             seq,
             mono_time_ns,
+            _MOTION_PROFILE_IDS[motion_profile] if motion_profile is not None else None,
         ),
         option=ormsgpack.OPT_SERIALIZE_NUMPY,
     )
@@ -1834,6 +1840,7 @@ class StatusBuffer:
     # Whether the controller accepts motion (False while disabled, e.g. the
     # e-stop latch). True from producers that predate the field.
     enabled: bool = True
+    motion_profile: str | None = None
     # Remaining waldoctl StatusBuffer Protocol members. parol6 has no torque
     # sensing, fieldbus, or warning source, so these hold their empty values.
     torques: np.ndarray = field(default_factory=lambda: np.zeros(6, dtype=np.float64))
@@ -1920,6 +1927,7 @@ def copy(self) -> "StatusBuffer":
             accepted_index=self.accepted_index,
             homed=self.homed,
             enabled=self.enabled,
+            motion_profile=self.motion_profile,
             torques=self.torques.copy(),
             torques_ext=self.torques_ext.copy(),
             warnings=list(self.warnings),
@@ -1973,7 +1981,8 @@ def decode_status_bin_into(data: bytes, buf: StatusBuffer) -> bool:
                      tool_status_tuple, tcp_speed, simulator_active,
                      collision_active, collision_pairs, scene_epoch,
                      accepted_index, homed, enabled, homing_step, joints_homed,
-                     loop_health, drive_faults, session_id, seq, mono_time_ns]
+                     loop_health, drive_faults, session_id, seq, mono_time_ns,
+                     motion_profile]
 
     Args:
         data: Raw msgpack bytes
@@ -2068,6 +2077,12 @@ def decode_status_bin_into(data: bytes, buf: StatusBuffer) -> bool:
         buf.accepted_index = int(msg[24]) if len(msg) > 24 else -1
         buf.homed = bool(msg[25]) if len(msg) > 25 else True
         buf.enabled = bool(msg[26]) if len(msg) > 26 else True
+        profile_id = msg[34] if len(msg) > 34 else None
+        buf.motion_profile = (
+            _MOTION_PROFILES[profile_id]
+            if type(profile_id) is int and 0 <= profile_id < len(_MOTION_PROFILES)
+            else None
+        )
         if len(msg) > 28:
             _apply_homing_progress(buf, int(msg[27]), msg[28])
         if len(msg) > 29:

parol6/server/status_cache.py

@@ -192,6 +192,7 @@ def __init__(self) -> None:
         self._p99_period_s: float = 0.0
         self._overruns: int = 0
         self._enabled: bool = True
+        self._motion_profile: str | None = None
         self._homing_step: int = 0
         self._joints_homed: list[int] = [0] * 6
 
@@ -570,6 +571,7 @@ def update_from_state(self, state: ControllerState) -> None:
         enabled_changed = self._enabled != state.enabled
         if enabled_changed:
             self._enabled = state.enabled
+        self._motion_profile = state.motion_profile
 
         for i in range(6):
             bits = (1 if state.Temperature_error_in[i] else 0) | (
@@ -642,6 +644,7 @@ def to_binary(
             accepted_index=self._accepted_index,
             homed=self._homed,
             enabled=self._enabled,
+            motion_profile=self._motion_profile,
             homing_step=self._homing_step,
             joints_homed=self._joints_homed,
             p99_period_s=self._p99_period_s,

tests/integration/test_profile_commands.py

@@ -4,12 +4,16 @@
 Tests SETPROFILE/GETPROFILE through the client API with a running server.
 """
 
+import asyncio
 import threading
 import time
 
 import numpy as np
 import pytest
 
+from parol6 import AsyncRobotClient
+from parol6.protocol.wire import StatusBuffer
+
 
 @pytest.mark.integration
 class TestProfileCommands:
@@ -36,6 +40,29 @@ def test_select_profile_case_insensitive(self, client, server_proc):
         assert client.select_profile("Quintic") > 0
         assert client.profile() == "QUINTIC"
 
+    @pytest.mark.asyncio
+    async def test_status_tracks_profile_selection_and_reset(self, server_proc, ports):
+        async with (
+            AsyncRobotClient(host=ports.server_ip, port=ports.server_port) as writer,
+            AsyncRobotClient(host=ports.server_ip, port=ports.server_port) as observer,
+        ):
+
+            async def reported_profile(name: str) -> StatusBuffer:
+                async with asyncio.timeout(5.0):
+                    async for status in observer.stream_status():
+                        if status.motion_profile == name:
+                            return status
+                raise AssertionError(
+                    "Status stream closed before reporting the profile"
+                )
+
+            assert await writer.select_profile("QUINTIC") > 0
+            selected = await reported_profile("QUINTIC")
+            assert await writer.reset_state() > 0
+            reset = await reported_profile("TOPPRA")
+            assert selected.motion_profile == "QUINTIC"
+            assert reset.motion_profile == "TOPPRA"
+
 
 @pytest.mark.integration
 class TestProfileMotionBehavior: