antioch-py 2.0.6__py3-none-any.whl → 3.0.12__py3-none-any.whl

common/ark/hardware.py

@@ -1,15 +1,12 @@
 from __future__ import annotations
 
 from enum import Enum
+from typing import Annotated, Literal, Union
 
-from pydantic import Field, ValidationInfo, field_validator
+from pydantic import Field
 
 from common.message import Message, Pose
-from common.session.views.articulation import ArticulationConfig
-from common.session.views.camera import CameraConfig
-from common.session.views.imu import ImuConfig
-from common.session.views.pir_sensor import PirSensorConfig
-from common.session.views.radar import RadarConfig
+from common.sim import ArticulationConfig, CameraConfig, ImuConfig, PirSensorConfig, RadarConfig
 
 
 class HardwareType(str, Enum):
@@ -29,6 +26,7 @@ class ActuatorGroupHardware(Message):
     Actuator group hardware that controls multiple joints.
     """
 
+    type: Literal[HardwareType.ACTUATOR_GROUP] = HardwareType.ACTUATOR_GROUP
     module: str
     name: str
     config: ArticulationConfig
@@ -39,6 +37,7 @@ class ImuHardware(Message):
     IMU sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.IMU] = HardwareType.IMU
     module: str
     name: str
     path: str
@@ -52,6 +51,7 @@ class PirHardware(Message):
     PIR (Passive Infrared) sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.PIR] = HardwareType.PIR
     module: str
     name: str
     path: str
@@ -65,6 +65,7 @@ class RadarHardware(Message):
     Radar sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.RADAR] = HardwareType.RADAR
     module: str
     name: str
     path: str
@@ -80,6 +81,7 @@ class CameraHardware(Message):
     Used for both RGB and depth cameras - the mode is specified in the config.
     """
 
+    type: Literal[HardwareType.CAMERA] = HardwareType.CAMERA
     module: str
     name: str
     path: str
@@ -88,34 +90,8 @@ class CameraHardware(Message):
     config: CameraConfig
 
 
-class Hardware(Message):
-    """
-    Union of all hardware types for an Ark.
-    """
-
-    type: HardwareType
-    config: ActuatorGroupHardware | ImuHardware | PirHardware | RadarHardware | CameraHardware
-
-    @field_validator("config", mode="before")
-    @classmethod
-    def validate_config(cls, config: dict, info: ValidationInfo):
-        """
-        Validate the hardware config based on the type field.
-        """
-
-        hw_type = info.data.get("type")
-        if hw_type is None:
-            raise ValueError("Hardware type is required")
-        match hw_type:
-            case HardwareType.ACTUATOR_GROUP:
-                return ActuatorGroupHardware.model_validate(config)
-            case HardwareType.IMU:
-                return ImuHardware.model_validate(config)
-            case HardwareType.PIR:
-                return PirHardware.model_validate(config)
-            case HardwareType.RADAR:
-                return RadarHardware.model_validate(config)
-            case HardwareType.CAMERA:
-                return CameraHardware.model_validate(config)
-            case _:
-                raise ValueError(f"Unknown hardware type: {hw_type}")
+# Discriminated union based on the 'type' field
+Hardware = Annotated[
+    Union[ActuatorGroupHardware, ImuHardware, PirHardware, RadarHardware, CameraHardware],
+    Field(discriminator="type"),
+]

common/ark/kinematics.py

@@ -1,5 +1,5 @@
 from common.message import Message, Pose
-from common.session.views.joint import JointAxis, JointType
+from common.sim import JointAxis, JointType
 
 
 class Joint(Message):

common/ark/module.py

@@ -83,3 +83,25 @@ class Module(Message):
     info: ModuleInfo
     parameters: dict[str, ModuleParameter]
     nodes: dict[str, Node]
+
+
+class ModuleReady(Message):
+    """
+    Message sent by a module when it is ready to start.
+
+    Published during agent handshake to signal module initialization complete.
+    """
+
+    _type = "antioch/agent/module_ready"
+    module_name: str
+
+
+class ModuleStart(Message):
+    """
+    Message sent to all modules to signal the global start time.
+
+    Received during agent handshake to synchronize module execution.
+    """
+
+    _type = "antioch/agent/module_start"
+    global_start_time_us: int

common/ark/node.py

@@ -3,6 +3,7 @@ from enum import Enum
 
 from pydantic import Field
 
+from common.ark.token import InputToken
 from common.message import Message
 
 
@@ -42,10 +43,7 @@ class NodeTimer(Message):
         else:
             raise ValueError("Timer must specify frequency or period")
 
-        # Convert to microseconds
         period_us = int(period_ms * 1000)
-
-        # Round to nearest millisecond
         rounded_us = ((period_us + 500) // 1000) * 1000
         if rounded_us == 0:
             raise ValueError("Timer frequency is too high (sub-millisecond period)")
@@ -92,3 +90,48 @@ class Node(Message):
     inputs: dict[str, NodeInput] = Field(default_factory=dict)
     outputs: dict[str, NodeOutput] = Field(default_factory=dict)
     hardware_access: dict[str, HardwareAccessMode] = Field(default_factory=dict)
+
+
+class NodeEdge(Message):
+    """
+    Directed edge representing data flow between nodes.
+    """
+
+    _type = "antioch/ark/node_edge"
+    source_module: str
+    source_node: str
+    source_output_name: str
+    target_module: str
+    target_node: str
+    target_input_name: str
+    type: str
+
+
+class SimNodeStart(Message):
+    """
+    Ark signals node to start execution (sim mode).
+
+    Sent from Ark to node via publisher to trigger node start with hardware reads.
+    """
+
+    _type = "antioch/ark/sim_node_start"
+    module_name: str
+    node_name: str
+    start_let_us: int
+    start_timestamp_us: int
+    input_tokens: list[InputToken]
+    hardware_reads: dict[str, bytes]
+
+
+class SimNodeComplete(Message):
+    """
+    Node signals completion to Ark (sim mode).
+
+    Sent from node to Ark to indicate completion with optional hardware writes.
+    """
+
+    _type = "antioch/ark/sim_node_complete"
+    module_name: str
+    node_name: str
+    completion_let_us: int
+    hardware_writes: dict[str, bytes] | None = None

common/ark/scheduler.py

@@ -3,38 +3,11 @@ from abc import ABC, abstractmethod
 from sortedcontainers import SortedDict
 
 from common.ark.module import Module
+from common.ark.node import NodeEdge
+from common.ark.token import InputToken
 from common.message import Message
 
 
-class NodeEdge(Message):
-    """
-    Directed edge representing data flow between nodes.
-    """
-
-    _type = "antioch/ark/node_edge"
-    source_module: str
-    source_node: str
-    source_output_name: str
-    target_module: str
-    target_node: str
-    target_input_name: str
-    type: str
-
-
-class InputToken(Message):
-    """
-    Input token representing data flow to a node.
-    """
-
-    _type = "antioch/ark/input_token"
-    source_module: str
-    source_node: str
-    source_output_name: str
-    target_input_name: str
-    let_us: int
-    budget_us: int
-
-
 class ScheduleEvent(Message, ABC):
     """
     Base class for schedule events.

common/ark/sim.py

@@ -1,4 +1,4 @@
-from common.ark.scheduler import InputToken
+from common.ark.token import InputToken
 from common.message import Message
 
 

{antioch/module → common/ark}/token.py

@@ -3,6 +3,23 @@ from enum import Enum
 from common.message import Message
 from common.utils.time import now_us
 
+# Synchronization path for token communication
+ARK_TOKEN_PATH = "_ark/token/{path}"
+
+
+class InputToken(Message):
+    """
+    Input token representing data flow to a node.
+    """
+
+    _type = "antioch/ark/input_token"
+    source_module: str
+    source_node: str
+    source_output_name: str
+    target_input_name: str
+    let_us: int
+    budget_us: int
+
 
 class TokenType(str, Enum):
     """

common/constants.py

@@ -1,8 +1,87 @@
 import os
 from pathlib import Path
 
-ANTIOCH_API_URL = os.environ.get("ANTIOCH_API_URL", "https://staging.api.antioch.com")
-ANTIOCH_DIR = os.environ.get("ANTIOCH_DIR", str(Path.home() / ".antioch"))
+# =============================================================================
+# Environment
+# =============================================================================
+
+ANTIOCH_ENV = os.environ.get("ANTIOCH_ENV", "prod").lower()
+if ANTIOCH_ENV not in ("prod", "staging", "local"):
+    raise ValueError(f"Invalid ANTIOCH_ENV: {ANTIOCH_ENV}")
+
+# =============================================================================
+# API URLs
+# =============================================================================
+
+# Local dev uses staging APIs
+if ANTIOCH_ENV in ("staging", "local"):
+    ANTIOCH_API_URL = "https://staging.api.antioch.com"
+    AUTH_DOMAIN = "https://staging.auth.antioch.com"
+    AUTH_CLIENT_ID = "x0aOquV43Xe76ehqAm6Zir80O0MWpqTV"
+else:
+    ANTIOCH_API_URL = "https://api.antioch.com"
+    AUTH_DOMAIN = "https://auth.antioch.com"
+    AUTH_CLIENT_ID = "8RLoPEgMP3ih10sfJsGPkwbUWGilsoyX"
+
+# Allow environment variable overrides
+ANTIOCH_API_URL = os.environ.get("ANTIOCH_API_URL", ANTIOCH_API_URL)
+AUTH_DOMAIN = os.environ.get("AUTH_DOMAIN", AUTH_DOMAIN)
+
+# =============================================================================
+# Local Storage Directories
+# =============================================================================
+
+ANTIOCH_DIR = os.environ.get("ANTIOCH_DIR", f"{os.environ.get('HOME', '.')}/.antioch/{ANTIOCH_ENV}")
+ANTIOCH_ARKS_DIR = os.environ.get("ANTIOCH_ARKS_DIR", f"{ANTIOCH_DIR}/arks")
+ANTIOCH_ASSETS_DIR = os.environ.get("ANTIOCH_ASSETS_DIR", f"{ANTIOCH_DIR}/assets")
+
+# =============================================================================
+# Auth0 Configuration
+# =============================================================================
+
+AUTH_TOKEN_URL = f"{AUTH_DOMAIN}/oauth/token"
+DEVICE_CODE_URL = f"{AUTH_DOMAIN}/oauth/device/code"
+
+AUTH_SCOPE = "openid profile email"
+AUDIENCE = "https://sessions.antioch.com"
+AUTH_GRANT_TYPE = "urn:ietf:params:oauth:grant-type:device_code"
+AUTH_TIMEOUT_SECONDS = 120
+
+# JWT claim names (namespaced for Auth0)
+AUTH_ORG_ID_CLAIM = "https://antioch.com/org_id"
+AUTH_ORG_NAME_CLAIM = "https://antioch.com/org_name"
+AUTH_ORG_ROLE_CLAIM = "https://antioch.com/org_role"
+
+# Organization roles (mutually exclusive within an org)
+ORG_ROLE_ADMIN = "team_admin"
+ORG_ROLE_MEMBER = "team_member"
+ORG_ROLE_SUPPORT = "support_staff"
+ORG_ROLES = (ORG_ROLE_ADMIN, ORG_ROLE_MEMBER, ORG_ROLE_SUPPORT)
+
+# =============================================================================
+# Telemetry Configuration
+# =============================================================================
+
+FOXGLOVE_WEBSOCKET_PORT = 8765
+
+# =============================================================================
+# Zenoh Shared Memory Configuration
+# =============================================================================
+
+# Enable shared memory transport for high-performance IPC between processes
+# When enabled, large messages use shared memory instead of TCP, providing
+# 4-8x latency improvement for messages > 64 KB. Falls back to TCP when SHM
+# is unavailable (cross-machine, pool exhausted, etc.)
+SHM_ENABLED = True
+
+# Shared memory pool size in bytes (256 MB)
+# This is the total amount of shared memory allocated for message transport
+SHM_POOL_SIZE_BYTES = 256 * 1024 * 1024
+
+# Message size threshold in bytes for SHM transport (64 KB)
+# Messages larger than this use SHM; smaller messages use TCP
+# Based on benchmarks showing SHM wins for messages >= 64 KB
+SHM_MESSAGE_SIZE_THRESHOLD_BYTES = 64 * 1024
 
 
 def get_auth_dir() -> Path:
@@ -28,7 +107,7 @@ def get_ark_dir() -> Path:
     :return: Path to the arks directory.
     """
 
-    ark_dir = Path(ANTIOCH_DIR) / "arks"
+    ark_dir = Path(ANTIOCH_ARKS_DIR)
     ark_dir.mkdir(parents=True, exist_ok=True)
     return ark_dir
 
@@ -42,6 +121,6 @@ def get_asset_dir() -> Path:
     :return: Path to the assets directory.
     """
 
-    asset_dir = Path(ANTIOCH_DIR) / "assets"
+    asset_dir = Path(ANTIOCH_ASSETS_DIR)
     asset_dir.mkdir(parents=True, exist_ok=True)
     return asset_dir

common/core/__init__.py

@@ -1,16 +1,5 @@
-from common.core.agent import (
-    Agent,
-    AgentError,
-    AgentResponse,
-    AgentStateResponse,
-    AgentValidationError,
-    ArkStateResponse,
-    ContainerSource,
-    ContainerState,
-    RecordTelemetryRequest,
-    StartArkRequest,
-)
 from common.core.auth import AuthError, AuthHandler, Organization
+from common.core.container import ContainerManager, ContainerManagerError, ContainerSource
 from common.core.registry import (
     get_ark_version_reference,
     get_asset_path,
@@ -22,24 +11,41 @@ from common.core.registry import (
     pull_remote_ark,
     pull_remote_asset,
 )
+from common.core.rome import RomeAuthError, RomeClient, RomeError, RomeNetworkError
+from common.core.telemetry import TelemetryManager
+from common.core.types import (
+    ArkReference,
+    ArkRegistryMetadata,
+    ArkVersionReference,
+    AssetReference,
+    AssetVersionReference,
+    TaskOutcome,
+    TaskRun,
+    TaskRunner,
+    TaskTriggerSource,
+)
 
 __all__ = [
-    # Agent
-    "Agent",
-    "AgentError",
-    "AgentResponse",
-    "AgentStateResponse",
-    "AgentValidationError",
-    "ArkStateResponse",
-    "ContainerSource",
-    "ContainerState",
-    "RecordTelemetryRequest",
-    "StartArkRequest",
     # Auth
     "AuthError",
     "AuthHandler",
     "Organization",
-    # Registry
+    # Containers
+    "ContainerManager",
+    "ContainerManagerError",
+    "ContainerSource",
+    # Registry types
+    "ArkReference",
+    "ArkRegistryMetadata",
+    "ArkVersionReference",
+    "AssetReference",
+    "AssetVersionReference",
+    # Task types
+    "TaskOutcome",
+    "TaskRun",
+    "TaskRunner",
+    "TaskTriggerSource",
+    # Registry functions
     "get_ark_version_reference",
     "get_asset_path",
     "list_local_arks",
@@ -49,4 +55,11 @@ __all__ = [
     "load_local_ark",
     "pull_remote_ark",
     "pull_remote_asset",
+    # Rome
+    "RomeAuthError",
+    "RomeClient",
+    "RomeError",
+    "RomeNetworkError",
+    # Telemetry
+    "TelemetryManager",
 ]