Add composable Python skills with sync and async execution - #26
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This was referenced Sep 7, 2026
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A skill's own asyncio.timeout()/wait_for() around a supplied-client call or a nested skill cancels the running task exactly like an external cancel, so the per-call guard sent a real STOP to the arm and poisoned the execution on an ordinary timeout. Cancellation is now authoritative only where it escapes the root invocation; nested invocations report cancelled and propagate. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
A program is written once and runs against a live backend or a preview by swapping the client, so every wrapper standing in for a client -- the stepping wrapper, the path preview, a backend's dry run -- has to agree on which calls queue on the controller, which mint an index the program may wait on, which cancel the queue, and which read live state a plan cannot predict. Each wrapper kept its own list, so a new method was stepped, previewed and waited on by whichever list happened to mention it. The classification now lives where the method is declared: a @command marker per method, read back by command_table(). The conformance test refuses an unclassified public method, and a backend override inherits the ABC's spec, so the contract belongs to the interface rather than to each override. Streamed motion and estimate_payload are marked as minting no index -- they are the commands whose return is not a queue position. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
`requires="motion"` became a frozenset of its letters, every letter passed the identifier pattern, the skill registered, and every invocation then demanded five one-letter capabilities of the client. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
move_c, move_s, move_p, tool_action and write_io carried NotImplementedError defaults, which made them read as optional. Both backends implement all five, so they join the rest of the control surface as @AbstractMethod. What does vary by hardware is already declared as a has_* flag on Robot, so a skill's requirements need only cover those. Requires is one boolean per flag, replacing the free-form capability set that lived on the client: a mistyped requirement is a type error at the call site instead of a MissingCapability at run time, and a backend's support is declared in one place rather than two. The check reads client.robot, so a client that names no backend reports every requirement missing rather than assuming it met. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
isinstance against the DryRunClient protocol resolves members statically, so a client that forwards attribute access, such as a preview wrapper or the skill guard, never matches. is_dry_run resolves each public member with ordinary lookup instead. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
Jepson2k
marked this pull request as ready for review
September 17, 2026 22:33
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Reusable robot sequences need one Python implementation that works with connected synchronous and asynchronous clients. This adds
@skill, a typed sync facade (skill(rbt, ...)) and explicit async entry point (await skill.async_call(rbt, ...)), while keeping connection ownership with the supplied client.waldoctl.skillsentry points discover callable plugins; ordinary imports need no registration. Broken plugins are diagnosed, and duplicate ids exclude all conflicting providers.Validation: 150 tests passed, 4 existing tests skipped; source type checks, all pre-commit hooks and the full GitHub CI matrix passed. Live-controller cancellation and sync execution are exercised by PAROL6 #41 and PAR6 #67; preview and GUI stepping are in Commander #49. All use
feat/skill-runtime.Release dependency: companion backends and Commander target waldoctl
v0.14.0; publish that release after this PR merges and before releasing the consumers.