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Update and test on actual robot hardware (#2)
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‎.github/workflows/build_wheels.yml‎

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name: Build Python Wheels
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on:
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pull_request:
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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build:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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- runner: ubuntu-22.04-arm
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- runner: macos-14
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.9.1
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with:
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pixi-version: v0.63.2
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environments: "py"
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- name: Build wheels
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run: pixi run py-build-wheel
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-${{ matrix.platform.runner }}
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path: booster_sdk_py/dist/

‎.github/workflows/checks_rust.yml‎

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name: Rust Checks
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on:
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pull_request:
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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rust-checks:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.9.1
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with:
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pixi-version: v0.63.2
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- name: Rust checks
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run: pixi run rs-check

‎.github/workflows/python_checks.yml‎

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name: Python Checks
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on:
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pull_request:
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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python-checks:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.9.1
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with:
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pixi-version: v0.63.2
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environments: "py"
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- name: Python lint
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run: pixi run py-lint

‎.github/workflows/release.yml‎

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name: Release
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on:
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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build:
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runs-on: ${{ matrix.platform.runner }}
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strategy:
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matrix:
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platform:
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- runner: ubuntu-22.04
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- runner: ubuntu-22.04-arm
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- runner: macos-14
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.9.1
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with:
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pixi-version: v0.63.2
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environments: "py"
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- name: Build wheels
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run: pixi run py-build-wheel
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- name: Upload wheels
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uses: actions/upload-artifact@v4
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with:
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name: wheels-${{ matrix.platform.runner }}
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path: booster_sdk_py/dist/
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publish:
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runs-on: ubuntu-22.04
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needs: build
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environment: release
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permissions:
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id-token: write
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steps:
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- uses: actions/download-artifact@v4
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with:
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pattern: wheels-*
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merge-multiple: true
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path: dist/
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- name: Install uv
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uses: astral-sh/setup-uv@v5
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- name: Publish to PyPI
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run: uv publish dist/*

‎Cargo.lock‎

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‎Cargo.toml‎

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@@ -3,7 +3,7 @@ members = ["booster_sdk", "booster_sdk_py"]
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resolver = "2"
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[workspace.package]
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version = "0.1.0-alpha.4"
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version = "0.1.0-alpha.5"
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edition = "2024"
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authors = ["Team whIRLwind"]
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license = "MIT OR Apache-2.0"

‎booster_sdk/examples/locomotion_control.rs‎

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@@ -15,7 +15,7 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
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tracing::info!("Starting locomotion control example");
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// Create client with 2-second timeout
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// Create client
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let client = BoosterClient::new()?;
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// Change to walking mode

‎booster_sdk/src/client/loco_client.rs‎

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@@ -14,6 +14,11 @@ use serde::{Deserialize, Serialize};
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const CHANGE_MODE_API_ID: i32 = 2000;
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const MOVE_API_ID: i32 = 2001;
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// The controller may send an intermediate pending status (-1) before the
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// final success response. Mode transitions (especially PREPARE) can take
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// several seconds.
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const CHANGE_MODE_TIMEOUT: std::time::Duration = std::time::Duration::from_secs(30);
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#[derive(Deserialize)]
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struct EmptyResponse {}
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@@ -59,7 +64,7 @@ impl BoosterClient {
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&Params {
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mode: i32::from(mode),
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},
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None,
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Some(CHANGE_MODE_TIMEOUT),
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)
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.await?;
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‎booster_sdk/src/dds/messages.rs‎

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@@ -14,7 +14,6 @@ pub struct RpcRespMsg {
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pub uuid: String,
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pub header: String,
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pub body: String,
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pub status_code: i32,
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}
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#[derive(Debug, Clone, Serialize, Deserialize)]

‎booster_sdk/src/dds/rpc.rs‎

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@@ -1,6 +1,7 @@
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//! RPC client for high-level API requests over DDS.
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use serde::{Serialize, de::DeserializeOwned};
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use serde_json::Value;
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use std::time::{Duration, Instant};
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use uuid::Uuid;
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@@ -23,7 +24,9 @@ impl Default for RpcClientOptions {
2324
fn default() -> Self {
2425
Self {
2526
domain_id: 0,
26-
default_timeout: Duration::from_millis(1000),
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// 5 s is a safe default for most commands. Mode changes are slow,
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// so change_mode passes its own longer timeout.
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default_timeout: Duration::from_secs(5),
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}
2831
}
2932
}
@@ -35,6 +38,32 @@ pub struct RpcClient {
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default_timeout: Duration,
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}
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41+
fn parse_status_value(value: &Value) -> Option<i32> {
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match value {
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Value::Number(n) => n.as_i64().and_then(|v| i32::try_from(v).ok()),
44+
Value::String(s) => s.parse::<i32>().ok(),
45+
_ => None,
46+
}
47+
}
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49+
fn parse_status_from_header(raw_json: &str) -> Option<i32> {
50+
let value: Value = serde_json::from_str(raw_json.trim()).ok()?;
51+
let object = value.as_object()?;
52+
object.get("status").and_then(parse_status_value)
53+
}
54+
55+
fn decode_response_body<R>(body: &str) -> std::result::Result<R, serde_json::Error>
56+
where
57+
R: DeserializeOwned,
58+
{
59+
let trimmed = body.trim();
60+
if trimmed.is_empty() {
61+
return serde_json::from_str("{}");
62+
}
63+
64+
serde_json::from_str(trimmed)
65+
}
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3867
impl RpcClient {
3968
pub fn new(options: RpcClientOptions) -> Result<Self> {
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let node = DdsNode::new(super::DdsConfig {
@@ -102,22 +131,25 @@ impl RpcClient {
102131
continue;
103132
}
104133

105-
if response.status_code == -1 {
134+
let status_code = parse_status_from_header(&response.header).unwrap_or(0);
135+
136+
if status_code == -1 {
106137
continue;
107138
}
108139

109-
if response.status_code != 0 {
110-
return Err(RpcError::from_status_code(
111-
response.status_code,
112-
response.body,
113-
)
114-
.into());
140+
if status_code != 0 {
141+
let message = if response.body.trim().is_empty() {
142+
response.header
143+
} else {
144+
response.body
145+
};
146+
return Err(RpcError::from_status_code(status_code, message).into());
115147
}
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117-
let result: R = serde_json::from_str(&response.body).map_err(|err| {
149+
let result: R = decode_response_body(&response.body).map_err(|err| {
118150
RpcError::RequestFailed {
119-
status: response.status_code,
120-
message: format!("Failed to deserialize response: {err}"),
151+
status: status_code,
152+
message: format!("Failed to deserialize response body: {err}"),
121153
}
122154
})?;
123155

@@ -134,3 +166,42 @@ impl RpcClient {
134166
.map_err(|err| DdsError::ReceiveFailed(err.to_string()))?
135167
}
136168
}
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170+
#[cfg(test)]
171+
mod tests {
172+
use super::{decode_response_body, parse_status_from_header, parse_status_value};
173+
use serde_json::json;
174+
175+
#[derive(serde::Deserialize)]
176+
struct EmptyResponse {}
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#[test]
179+
fn parse_status_from_header_reads_status_field() {
180+
assert_eq!(parse_status_from_header(r#"{"status":0}"#), Some(0));
181+
assert_eq!(parse_status_from_header(r#"{"status":"-1"}"#), Some(-1));
182+
}
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184+
#[test]
185+
fn parse_status_value_handles_number_and_string() {
186+
assert_eq!(parse_status_value(&json!(0)), Some(0));
187+
assert_eq!(parse_status_value(&json!("-1")), Some(-1));
188+
assert_eq!(parse_status_value(&json!("not-a-number")), None);
189+
}
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191+
#[test]
192+
fn parse_status_from_header_ignores_other_fields() {
193+
assert_eq!(parse_status_from_header(r#"{"status_code":0}"#), None);
194+
assert_eq!(parse_status_from_header(r#"{"code":0}"#), None);
195+
}
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197+
#[test]
198+
fn empty_body_deserializes_as_empty_object() {
199+
let _: EmptyResponse = decode_response_body("").expect("empty body should parse");
200+
}
201+
202+
#[test]
203+
fn non_json_body_fails_deserialization() {
204+
let parsed = decode_response_body::<EmptyResponse>("not-json");
205+
assert!(parsed.is_err());
206+
}
207+
}

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