antioch-py 1.9.7__tar.gz → 2.0.2__tar.gz

antioch_py-2.0.2/PKG-INFO

@@ -0,0 +1,249 @@
+Metadata-Version: 2.4
+Name: antioch-py
+Version: 2.0.2
+Summary: The Antioch Python SDK
+Author-email: Antioch Robotics <support@antioch.dev>
+License-Expression: MIT
+Project-URL: Homepage, https://antioch.com
+Keywords: robotics,simulation,middleware,sdk
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: <3.13,>=3.12
+Description-Content-Type: text/markdown
+Requires-Dist: click>=8.0.0
+Requires-Dist: click>=8.3.0
+Requires-Dist: eclipse-zenoh>=1.5.0
+Requires-Dist: google-cloud-artifact-registry>=1.16.1
+Requires-Dist: httpx>=0.27.0
+Requires-Dist: loguru>=0.7.3
+Requires-Dist: msgpack==1.1.1
+Requires-Dist: msgpack>=1.1.1
+Requires-Dist: numpy==1.26.0
+Requires-Dist: ormsgpack>=1.6.0
+Requires-Dist: pydantic>=2.11.6
+Requires-Dist: pydantic>=2.11.7
+Requires-Dist: python-on-whales>=0.78.0
+Requires-Dist: pyyaml>=6.0.2
+Requires-Dist: requests>=2.32.0
+Requires-Dist: scipy==1.15.3
+Requires-Dist: sortedcontainers-stubs>=2.4.3
+Requires-Dist: sortedcontainers>=2.4.0
+Requires-Dist: tqdm>=4.67.1
+
+# Antioch Python
+
+Python client library for the Antioch middleware platform.
+
+## Installation
+
+Authenticate your local environment with GCP via the Google Cloud CLI:
+
+```bash
+gcloud auth login                                       # Login to Google Cloud
+gcloud config set project proof-of-concept-staging-9072 # Set the correct project
+gcloud auth application-default login                   # Create app credentials
+```
+
+This project uses [uv](https://github.com/astral-sh/uv), a fast Python package and project manager. Install it and set up authentication:
+
+```bash
+# Install uv
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# Install keyring authentication globally for uv
+uv tool install keyring --with keyrings.google-artifactregistry-auth
+
+# Install all default groups in one step
+uv sync
+```
+
+Install the pre-commit hooks to auto-run `uv sync` and `ruff format` on Git commit:
+
+```bash
+uv run pre-commit install
+```
+
+## Usage
+
+The Antioch Python client builds both Docker images that can be used and a Python package.
+
+## Docker Images
+
+We have 2 Docker images currently
+
+### Standard Image (`antioch-py:latest`)
+
+- Base: `python:3.12-slim`
+- Sidecar binary at `/usr/local/bin/sidecar`
+- antioch-py package pre-installed
+- Python 3.12 virtual environment with pip
+- Runs as root for maximum compatibility
+
+Build locally using
+
+```
+./build-image.sh
+```
+
+### ROS Image (`antioch-py-ros:latest`)
+
+- Base: `osrf/ros:jazzy-desktop`
+- All features of the standard image
+- Full ROS 2 Jazzy desktop environment
+- ROS 2 Python packages and tools pre-installed
+- Ideal for robotics applications requiring ROS integration
+
+NOTE: not included in cloudbuild currently
+
+Build locally using
+
+```
+./build-image.sh --variant ros-jazzy
+```
+
+### Usage
+
+For standard Python modules:
+
+```dockerfile
+FROM antioch-py:latest
+
+# Install any additional packages you need
+RUN pip install opencv-python-headless numpy
+
+# Copy your module entrypoint
+# The sidecar will automatically run your module.py file
+COPY module.py .
+```
+
+For ROS-enabled modules:
+
+```dockerfile
+FROM antioch-py-ros:latest
+
+# Install ROS-specific packages if needed
+RUN apt-get update && apt-get install -y ros-jazzy-cv-bridge
+
+# You will probably need to source your ROS modules / install
+# To ensure your ROS environment is available to your module, source the ROS setup script before running the sidecar.
+# For example, you can add the following to your Dockerfile:
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/profile.d/ros.sh
+SHELL ["/bin/bash", "-c"]
+
+# If you have a custom ROS workspace, source its setup script as well:
+# RUN echo "source /workspace/install/setup.bash" >> /etc/profile.d/ros.sh
+
+# The sidecar will automatically run your module.py file in the ROS environment.
+COPY module.py .
+```
+
+## Testing Modules
+
+Antioch provides a test framework for testing modules in isolation without requiring a full deployment. The `ModuleTestHarness` runs your module in a separate process and communicates with it using the standard Antioch protocol.
+
+### Basic Example
+
+```python
+from antioch.module import Module, NodeExecution
+from antioch.module.test import ModuleTestHarness, TestNode, TestInput, TestOutput
+from common.message import Message
+
+# Define your message types
+class InputData(Message):
+    _type = "input_data"
+    value: int
+
+class OutputData(Message):
+    _type = "output_data"
+    result: int
+
+# Create your module
+class MyModule(Module):
+    def init(self):
+        self.add_node("process", self.process)
+
+    def process(self, exec: NodeExecution):
+        data = exec.input("data").data(InputData)
+        if data:
+            exec.output("result").set(OutputData(result=data.value * 2))
+
+    def cleanup(self):
+        pass
+
+# Test your module
+def test_my_module():
+    with ModuleTestHarness(MyModule) as harness:
+        # Configure the module
+        harness.configure(
+            module_name="my-module",
+            nodes=[
+                TestNode(
+                    name="process",
+                    budget=50,  # 50ms time budget
+                    inputs=[TestInput(name="data", message_type="input_data")],
+                    outputs=[TestOutput(name="result", message_type="output_data")],
+                )
+            ],
+        )
+
+        # Execute the node
+        result = harness.execute(
+            "process",
+            inputs={"data": InputData(value=21)},
+        )
+
+        # Check the output
+        output = result.output("result", OutputData)
+        assert output.result == 42
+```
+
+The test framework handles module lifecycle, message serialization, and provides helpful error messages for common issues like budget overruns.
+
+### Testing Modules with Hardware
+
+For modules that use hardware (cameras, IMUs, actuator groups), provide mock hardware data:
+
+```python
+from antioch.module import Module, NodeExecution
+from antioch.module.test import ModuleTestHarness
+from antioch.message import Image, ImageEncoding
+
+class CameraModule(Module):
+    def init(self):
+        self.add_node("process_frame", self.process_frame)
+        self.camera = self.get_rgb_camera("my_camera")
+
+    def process_frame(self, exec: NodeExecution):
+        frame = self.camera.get_frame()
+        # Process frame...
+        exec.output("processed").set(...)
+
+def test_camera_module():
+    with ModuleTestHarness(CameraModule, module_yaml_path="tests/camera.yaml") as harness:
+        # Execute node with mock camera data
+        result = harness.execute_node(
+            node_name="process_frame",
+            hardware_data={
+                "my_camera": Image(
+                    width=640,
+                    height=480,
+                    encoding=ImageEncoding.RGB8,
+                    data=b"mock_rgb_data",
+                )
+            }
+        )
+
+        # Verify outputs
+        processed = result.output("processed", ProcessedData)
+        assert processed is not None
+
+        # For actuator groups, you can also verify hardware writes
+        # write = result.get_hardware_write("my_actuator_group")
+```
+
+The test harness automatically mocks the Sim RPC layer, so hardware reads and writes
+work exactly as they would in production, but without requiring Isaac Sim to be running.

antioch_py-2.0.2/antioch_py.egg-info/PKG-INFO

@@ -0,0 +1,249 @@
+Metadata-Version: 2.4
+Name: antioch-py
+Version: 2.0.2
+Summary: The Antioch Python SDK
+Author-email: Antioch Robotics <support@antioch.dev>
+License-Expression: MIT
+Project-URL: Homepage, https://antioch.com
+Keywords: robotics,simulation,middleware,sdk
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: <3.13,>=3.12
+Description-Content-Type: text/markdown
+Requires-Dist: click>=8.0.0
+Requires-Dist: click>=8.3.0
+Requires-Dist: eclipse-zenoh>=1.5.0
+Requires-Dist: google-cloud-artifact-registry>=1.16.1
+Requires-Dist: httpx>=0.27.0
+Requires-Dist: loguru>=0.7.3
+Requires-Dist: msgpack==1.1.1
+Requires-Dist: msgpack>=1.1.1
+Requires-Dist: numpy==1.26.0
+Requires-Dist: ormsgpack>=1.6.0
+Requires-Dist: pydantic>=2.11.6
+Requires-Dist: pydantic>=2.11.7
+Requires-Dist: python-on-whales>=0.78.0
+Requires-Dist: pyyaml>=6.0.2
+Requires-Dist: requests>=2.32.0
+Requires-Dist: scipy==1.15.3
+Requires-Dist: sortedcontainers-stubs>=2.4.3
+Requires-Dist: sortedcontainers>=2.4.0
+Requires-Dist: tqdm>=4.67.1
+
+# Antioch Python
+
+Python client library for the Antioch middleware platform.
+
+## Installation
+
+Authenticate your local environment with GCP via the Google Cloud CLI:
+
+```bash
+gcloud auth login                                       # Login to Google Cloud
+gcloud config set project proof-of-concept-staging-9072 # Set the correct project
+gcloud auth application-default login                   # Create app credentials
+```
+
+This project uses [uv](https://github.com/astral-sh/uv), a fast Python package and project manager. Install it and set up authentication:
+
+```bash
+# Install uv
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# Install keyring authentication globally for uv
+uv tool install keyring --with keyrings.google-artifactregistry-auth
+
+# Install all default groups in one step
+uv sync
+```
+
+Install the pre-commit hooks to auto-run `uv sync` and `ruff format` on Git commit:
+
+```bash
+uv run pre-commit install
+```
+
+## Usage
+
+The Antioch Python client builds both Docker images that can be used and a Python package.
+
+## Docker Images
+
+We have 2 Docker images currently
+
+### Standard Image (`antioch-py:latest`)
+
+- Base: `python:3.12-slim`
+- Sidecar binary at `/usr/local/bin/sidecar`
+- antioch-py package pre-installed
+- Python 3.12 virtual environment with pip
+- Runs as root for maximum compatibility
+
+Build locally using
+
+```
+./build-image.sh
+```
+
+### ROS Image (`antioch-py-ros:latest`)
+
+- Base: `osrf/ros:jazzy-desktop`
+- All features of the standard image
+- Full ROS 2 Jazzy desktop environment
+- ROS 2 Python packages and tools pre-installed
+- Ideal for robotics applications requiring ROS integration
+
+NOTE: not included in cloudbuild currently
+
+Build locally using
+
+```
+./build-image.sh --variant ros-jazzy
+```
+
+### Usage
+
+For standard Python modules:
+
+```dockerfile
+FROM antioch-py:latest
+
+# Install any additional packages you need
+RUN pip install opencv-python-headless numpy
+
+# Copy your module entrypoint
+# The sidecar will automatically run your module.py file
+COPY module.py .
+```
+
+For ROS-enabled modules:
+
+```dockerfile
+FROM antioch-py-ros:latest
+
+# Install ROS-specific packages if needed
+RUN apt-get update && apt-get install -y ros-jazzy-cv-bridge
+
+# You will probably need to source your ROS modules / install
+# To ensure your ROS environment is available to your module, source the ROS setup script before running the sidecar.
+# For example, you can add the following to your Dockerfile:
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/profile.d/ros.sh
+SHELL ["/bin/bash", "-c"]
+
+# If you have a custom ROS workspace, source its setup script as well:
+# RUN echo "source /workspace/install/setup.bash" >> /etc/profile.d/ros.sh
+
+# The sidecar will automatically run your module.py file in the ROS environment.
+COPY module.py .
+```
+
+## Testing Modules
+
+Antioch provides a test framework for testing modules in isolation without requiring a full deployment. The `ModuleTestHarness` runs your module in a separate process and communicates with it using the standard Antioch protocol.
+
+### Basic Example
+
+```python
+from antioch.module import Module, NodeExecution
+from antioch.module.test import ModuleTestHarness, TestNode, TestInput, TestOutput
+from common.message import Message
+
+# Define your message types
+class InputData(Message):
+    _type = "input_data"
+    value: int
+
+class OutputData(Message):
+    _type = "output_data"
+    result: int
+
+# Create your module
+class MyModule(Module):
+    def init(self):
+        self.add_node("process", self.process)
+
+    def process(self, exec: NodeExecution):
+        data = exec.input("data").data(InputData)
+        if data:
+            exec.output("result").set(OutputData(result=data.value * 2))
+
+    def cleanup(self):
+        pass
+
+# Test your module
+def test_my_module():
+    with ModuleTestHarness(MyModule) as harness:
+        # Configure the module
+        harness.configure(
+            module_name="my-module",
+            nodes=[
+                TestNode(
+                    name="process",
+                    budget=50,  # 50ms time budget
+                    inputs=[TestInput(name="data", message_type="input_data")],
+                    outputs=[TestOutput(name="result", message_type="output_data")],
+                )
+            ],
+        )
+
+        # Execute the node
+        result = harness.execute(
+            "process",
+            inputs={"data": InputData(value=21)},
+        )
+
+        # Check the output
+        output = result.output("result", OutputData)
+        assert output.result == 42
+```
+
+The test framework handles module lifecycle, message serialization, and provides helpful error messages for common issues like budget overruns.
+
+### Testing Modules with Hardware
+
+For modules that use hardware (cameras, IMUs, actuator groups), provide mock hardware data:
+
+```python
+from antioch.module import Module, NodeExecution
+from antioch.module.test import ModuleTestHarness
+from antioch.message import Image, ImageEncoding
+
+class CameraModule(Module):
+    def init(self):
+        self.add_node("process_frame", self.process_frame)
+        self.camera = self.get_rgb_camera("my_camera")
+
+    def process_frame(self, exec: NodeExecution):
+        frame = self.camera.get_frame()
+        # Process frame...
+        exec.output("processed").set(...)
+
+def test_camera_module():
+    with ModuleTestHarness(CameraModule, module_yaml_path="tests/camera.yaml") as harness:
+        # Execute node with mock camera data
+        result = harness.execute_node(
+            node_name="process_frame",
+            hardware_data={
+                "my_camera": Image(
+                    width=640,
+                    height=480,
+                    encoding=ImageEncoding.RGB8,
+                    data=b"mock_rgb_data",
+                )
+            }
+        )
+
+        # Verify outputs
+        processed = result.output("processed", ProcessedData)
+        assert processed is not None
+
+        # For actuator groups, you can also verify hardware writes
+        # write = result.get_hardware_write("my_actuator_group")
+```
+
+The test harness automatically mocks the Sim RPC layer, so hardware reads and writes
+work exactly as they would in production, but without requiring Isaac Sim to be running.

{antioch_py-1.9.7 → antioch_py-2.0.2}/pyproject.toml

@@ -1,8 +1,27 @@
 [project]
 name = "antioch-py"
-version = "1.9.7"
-description = "Python implementation of the Antioch middleware for distributed systems"
-requires-python = ">=3.12"
+version = "2.0.2"
+description = "The Antioch Python SDK"
+readme = "README.md"
+license = "MIT"
+requires-python = ">=3.12,<3.13"
+authors = [
+    { name = "Antioch Robotics", email = "support@antioch.dev" },
+]
+keywords = [
+    "robotics",
+    "simulation",
+    "middleware",
+    "sdk",
+]
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Intended Audience :: Developers",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.12",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Topic :: Software Development :: Libraries :: Python Modules",
+]
 dependencies = [
     "click>=8.0.0",
     "click>=8.3.0",
@@ -25,6 +44,9 @@ dependencies = [
     "tqdm>=4.67.1",
 ]
 
+[project.urls]
+Homepage = "https://antioch.com"
+
 [project.scripts]
 schedule_viz = "scripts.schedule_viz:main"
 
@@ -56,6 +78,9 @@ requires = [
 ]
 build-backend = "setuptools.build_meta"
 
+[tool.setuptools]
+include-package-data = true
+
 [tool.setuptools.packages.find]
 where = [
     ".",

antioch_py-1.9.7/PKG-INFO

@@ -1,24 +0,0 @@
-Metadata-Version: 2.4
-Name: antioch-py
-Version: 1.9.7
-Summary: Python implementation of the Antioch middleware for distributed systems
-Requires-Python: >=3.12
-Requires-Dist: click>=8.0.0
-Requires-Dist: click>=8.3.0
-Requires-Dist: eclipse-zenoh>=1.5.0
-Requires-Dist: google-cloud-artifact-registry>=1.16.1
-Requires-Dist: httpx>=0.27.0
-Requires-Dist: loguru>=0.7.3
-Requires-Dist: msgpack==1.1.1
-Requires-Dist: msgpack>=1.1.1
-Requires-Dist: numpy==1.26.0
-Requires-Dist: ormsgpack>=1.6.0
-Requires-Dist: pydantic>=2.11.6
-Requires-Dist: pydantic>=2.11.7
-Requires-Dist: python-on-whales>=0.78.0
-Requires-Dist: pyyaml>=6.0.2
-Requires-Dist: requests>=2.32.0
-Requires-Dist: scipy==1.15.3
-Requires-Dist: sortedcontainers-stubs>=2.4.3
-Requires-Dist: sortedcontainers>=2.4.0
-Requires-Dist: tqdm>=4.67.1

antioch_py-1.9.7/antioch_py.egg-info/PKG-INFO

@@ -1,24 +0,0 @@
-Metadata-Version: 2.4
-Name: antioch-py
-Version: 1.9.7
-Summary: Python implementation of the Antioch middleware for distributed systems
-Requires-Python: >=3.12
-Requires-Dist: click>=8.0.0
-Requires-Dist: click>=8.3.0
-Requires-Dist: eclipse-zenoh>=1.5.0
-Requires-Dist: google-cloud-artifact-registry>=1.16.1
-Requires-Dist: httpx>=0.27.0
-Requires-Dist: loguru>=0.7.3
-Requires-Dist: msgpack==1.1.1
-Requires-Dist: msgpack>=1.1.1
-Requires-Dist: numpy==1.26.0
-Requires-Dist: ormsgpack>=1.6.0
-Requires-Dist: pydantic>=2.11.6
-Requires-Dist: pydantic>=2.11.7
-Requires-Dist: python-on-whales>=0.78.0
-Requires-Dist: pyyaml>=6.0.2
-Requires-Dist: requests>=2.32.0
-Requires-Dist: scipy==1.15.3
-Requires-Dist: sortedcontainers-stubs>=2.4.3
-Requires-Dist: sortedcontainers>=2.4.0
-Requires-Dist: tqdm>=4.67.1