Make command methods async, keeping blocking wrapper for compat#32
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michaelosthege
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May 23, 2026
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I have tested these and can confirm two robots moving at the same time, controlled from one Python application 😎
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| def list_files(self) -> bool: | ||
| """Blocking wrapper around :func:`CRIClient.list_files_async`.""" | ||
| return asyncio.get_event_loop().run_until_complete(self.list_files_async()) |
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Out of scope for this PR, but I noticed that list_files(self) -> bool is a very weird signature.
I'm not familiar with the command, but generally I find methods like list_files(self) -> list[str] much more useful.
The same applies to get_board_temperatures, get_motor_temperatures.
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I agree but I don't know what's intended by the maintainer. I created a new issue (#33) for this.
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This is a follow-up to #31.
Importantly, this fixes bugs with
wait_event_with_timeoutthat were introduced in #31:timeout=Nonenow waits for 24 hours 👈 I can not think of a scenario where any of the move methods should even wait that long (but they default totimeout=None). Users can always override with even longer timeouts if needed.I'd like to call all commands asynchronously so our application can do other stuff in parallel (such as commanding another Igus).
For backwards-compatibility and ease of use in other contexts I suppose the blocking methods should be kept.