artificialbrains-sdk 0.1.3__py3-none-any.whl → 0.1.5__py3-none-any.whl

ab_sdk/client.py

@@ -122,7 +122,15 @@ class ABClient:
             # derive host root from base_url (/api stripped)
             url = self.base_url[:-4] if self.base_url.endswith("/api") else self.base_url
 
-        socket = socketio.Client(reconnection=True, logger=False, engineio_logger=False)
+        socket = socketio.Client(
+            reconnection=True,
+            reconnection_attempts=0,  # infinite retries
+            reconnection_delay=1,
+            reconnection_delay_max=5,
+            logger=True,              # Enable to see ping/pong
+            engineio_logger=True,
+            request_timeout=3600,      # Allow long requests (1 hour)
+        )
 
         connect_headers: Dict[str, str] = {}
         auth_payload: Optional[Dict[str, Any]] = None
@@ -136,49 +144,23 @@ class ABClient:
          # Helpful visibility: log namespace connect/disconnect
         @socket.on("connect", namespace=ns)
         def _on_connect():
-            logger.info("Realtime connected to namespace %s (namespaces=%s)", ns, list(getattr(socket, "namespaces", {}).keys()))
+            logger.info("Realtime connected to namespace %s", ns)
 
         @socket.on("disconnect", namespace=ns)
         def _on_disconnect():
             logger.warning("Realtime disconnected from namespace %s", ns)
 
-        # Robust connect strategy:
-        #  1) Try websocket-only (does NOT require `requests`)
-        #  2) Fallback to default transports (polling+websocket) if needed
-        # Provide a clear error message if dependencies are missing.
-        try:
-            socket.connect(
-                url,
-                headers=connect_headers,
-                auth=auth_payload,
-                namespaces=[ns],
-                transports=["websocket"],
-                wait=True,
-                wait_timeout=self.timeout,
-            )
-        except Exception as e1:
-            # If websocket-client is missing, python-socketio will fail here.
-            # If polling is needed and `requests` is missing, it will fail on fallback.
-            try:
-                socket.connect(
-                    url,
-                    headers=connect_headers,
-                    auth=auth_payload,
-                    namespaces=[ns],
-                    wait=True,
-                    wait_timeout=self.timeout,
-                )
-            except Exception as e2:
-                msg = (
-                    "Realtime connection failed.\n\n"
-                    "Tried websocket-only then default transports.\n\n"
-                    "Common fixes:\n"
-                    "  - pip install websocket-client\n"
-                    "  - pip install requests\n\n"
-                    f"websocket error: {e1}\n"
-                    f"fallback error: {e2}"
-                )
-                raise socketio.exceptions.ConnectionError(msg)
+        # Use polling + websocket (not websocket-only)
+        # This maintains connection through NAT devices
+        socket.connect(
+            url,
+            headers=connect_headers,
+            auth=auth_payload,
+            namespaces=[ns],
+            transports=["polling", "websocket"],  # MUST have polling first!
+            wait=True,
+            wait_timeout=120,
+        )
             
 
         # HARD ASSERT: the namespace must actually be connected, or emits will fail with:

ab_sdk/run_session.py

@@ -20,7 +20,7 @@ appropriate synchronization in your handlers.
 """
 
 from __future__ import annotations
-
+import struct
 import logging
 import threading
 import time
@@ -198,6 +198,64 @@ class RunSession:
         }
         logger.debug("Sending input chunk: %s", {k: payload[k] for k in payload if k != "data"})
         self.socket.emit("io:chunk", payload, namespace=self.namespace)
+    
+    def send_proprioception_ticks(
+        self,
+        input_id: str,
+        raw_tick: float,
+        prev_raw_tick: Optional[float] = None,
+        vel_tick_s: Optional[float] = None,
+        *,
+        cycle: Optional[int] = None,
+        seq: Optional[int] = None,
+        t: Optional[float] = None,
+        lo: Optional[float] = None,
+        hi: Optional[float] = None,
+        meta: Optional[Dict[str, Any]] = None,
+    ) -> None:
+        """Send a per-joint proprioception sample as RAW ticks (+ optional velocity).
+
+        Payload format:
+          fmt="rawtick_f32x3"
+          data=3x float32 little-endian: [raw_tick, prev_raw_tick, vel_tick_s]
+
+        Notes:
+          - We include cycle in meta for debugging/traceability.
+          - For non-Feedback chunks, the server uses its own brainCycle; the cycle
+            value is still useful for logs and alignment.
+        """
+        if prev_raw_tick is None:
+            prev_raw_tick = float(raw_tick)
+        if vel_tick_s is None:
+            vel_tick_s = 0.0
+
+        payload = struct.pack("<fff", float(raw_tick), float(prev_raw_tick), float(vel_tick_s))
+
+        m = dict(meta or {})
+        if cycle is not None:
+            m.setdefault("cycle", int(cycle))
+        if lo is not None:
+            m.setdefault("lo", float(lo))
+        if hi is not None:
+            m.setdefault("hi", float(hi))
+        m.setdefault("rawTick", float(raw_tick))
+        m.setdefault("prevRawTick", float(prev_raw_tick))
+        m.setdefault("velTickPerS", float(vel_tick_s))
+
+        if seq is None:
+            seq = int(cycle) if cycle is not None else 0
+        if t is None:
+            t = time.time()
+
+        self.send_input_chunk(
+            input_id=str(input_id),
+            kind="Proprioception",
+            seq=int(seq),
+            t=float(t),
+            fmt="rawtick_f32x3",
+            meta=m,
+            data=payload,
+        )
 
     def send_feedback_raster(self, input_id: str, raster: Iterable[float],
                              cycle: int) -> None:
@@ -228,6 +286,7 @@ class RunSession:
                               t=time.time(), fmt="raster_f32",
                               meta=meta, data=data_bytes)
 
+
     def send_reward(self, global_reward: float, by_layer: Dict[str, float],
                     cycle: int) -> None:
         """Send reward information to the server.

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: artificialbrains_sdk
-Version: 0.1.3
+Version: 0.1.5
 Summary: ArtificialBrains Python SDK
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: Other/Proprietary License

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.5.dist-info}/RECORD

@@ -1,15 +1,15 @@
 ab_sdk/__init__.py,sha256=tYSMwbFzqsiZ7Bp7mYy2kQ0rX9I1NwM6wS1hEGYuze4,1831
-ab_sdk/client.py,sha256=TvANQpuEgjDYn51tIcXtGijHrqFUVXKPGXjKMRbWflc,10144
+ab_sdk/client.py,sha256=Aj5XgAEBtXeKg5DQgdG66SNtOvTYugd9DROkw34GmEY,9220
 ab_sdk/contract_scaffold.py,sha256=4zcsWhd9axxMu--FZ7U8B8u4QLUwluifyvqac2apDno,8930
 ab_sdk/endpoints.py,sha256=yc4h_E8vQA9TmWF0sW2GprgE0QnS3eBetH13ogeuw4E,2102
 ab_sdk/input_streamer.py,sha256=fRPlBimaTDBsm1gz9cdoYanVbmwYTBXSyI9IrXslXiM,6847
 ab_sdk/robot_loop.py,sha256=x5QCmJ28ET2iQf2q6AcreN0fy0WfPVUA4g-8b4TDjXo,7567
-ab_sdk/run_session.py,sha256=AQ_Xxn41s52MaCfi94liX3hkJxT3VT1INlf1u9NcXa0,12733
+ab_sdk/run_session.py,sha256=nwUSsOMSk5AupXQSyvArh--pe12Y3QyHDDjhjmTfHdU,14661
 ab_sdk/plugins/__init__.py,sha256=veHfKqvymY8YPN9HF4E1S4pwRUcVVJHDAyBZptbLNlA,1870
 ab_sdk/plugins/decoder.py,sha256=vHAubiAPOaOg3J006TLjn4qAoLIu2Lz2D2kjz421odc,10148
 ab_sdk/plugins/deviation.py,sha256=QLKOqOSa9HIj3Z3bO6oR79wY1Lni_P-j3GAGM7UYKVs,2019
 ab_sdk/plugins/reward.py,sha256=E5IsV29N6juyfIQ7ZksDa8JSxAAbVflaJOtLplilAD4,1796
-artificialbrains_sdk-0.1.3.dist-info/METADATA,sha256=_YNYqtSlvLxl7u9c7mX4LVls1n2XkuxIS0iQy354TD0,12177
-artificialbrains_sdk-0.1.3.dist-info/WHEEL,sha256=qELbo2s1Yzl39ZmrAibXA2jjPLUYfnVhUNTlyF1rq0Y,92
-artificialbrains_sdk-0.1.3.dist-info/top_level.txt,sha256=Ttsz2oF0qRh68OI9w3mu_LKkv2I_YvOWr3kudSpckpM,7
-artificialbrains_sdk-0.1.3.dist-info/RECORD,,
+artificialbrains_sdk-0.1.5.dist-info/METADATA,sha256=mu2eo9FmI8BgPKrOTE7h6INcLlwTNGFYKFQpaOCHFSo,12177
+artificialbrains_sdk-0.1.5.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+artificialbrains_sdk-0.1.5.dist-info/top_level.txt,sha256=Ttsz2oF0qRh68OI9w3mu_LKkv2I_YvOWr3kudSpckpM,7
+artificialbrains_sdk-0.1.5.dist-info/RECORD,,

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.5.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.10.1)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any