backplane-tracecheck 0.2.0__py3-none-any.whl

backplane_tracecheck-0.2.0.dist-info/METADATA

@@ -0,0 +1,167 @@
+Metadata-Version: 2.5
+Name: backplane-tracecheck
+Version: 0.2.0
+Summary: Check robot recordings (MCAP) against an explicit, versioned recording contract.
+Project-URL: Homepage, https://backplanerobotics.com
+Project-URL: Source, https://github.com/backplane-robotics/backplane-tracecheck
+Project-URL: Issues, https://github.com/backplane-robotics/backplane-tracecheck/issues
+Project-URL: Changelog, https://github.com/backplane-robotics/backplane-tracecheck/blob/main/CHANGELOG.md
+Author: Backplane Robotics LLC
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Keywords: data-quality,mcap,recording,robotics,ros2,rosbag
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Quality Assurance
+Requires-Python: >=3.11
+Requires-Dist: lz4>=4.3
+Requires-Dist: mcap<2,>=1.5
+Requires-Dist: zstandard>=0.22
+Provides-Extra: dev
+Requires-Dist: build>=1.2; extra == 'dev'
+Requires-Dist: pytest>=8; extra == 'dev'
+Requires-Dist: ruff>=0.6; extra == 'dev'
+Description-Content-Type: text/markdown
+
+# Backplane Tracecheck
+
+**Check robot recordings against an explicit recording contract.**
+
+Tracecheck reads an [MCAP](https://mcap.dev) recording (the default ROS 2 bag format) and checks it against a small JSON *recording contract*: which topics must be present, their schemas and encodings, message counts, rates, timestamp gaps, regressions, sequence continuity and time coverage. It produces a JSON report and a readable HTML report. Each finding points to an exact byte offset in the file.
+
+- Free and open source (Apache-2.0).
+- Read-only. Message payloads are never decoded or executed.
+- No robot, ROS install, account or cloud service needed.
+- Streams files of any size. Handles zstd and lz4 chunks safely.
+- Runs as a Python CLI or entirely in your browser at **[backplanerobotics.com/tracecheck](https://backplanerobotics.com/tracecheck/)**, where files never leave your device.
+
+Built by [Backplane Robotics](https://backplanerobotics.com).
+
+## Install
+
+```bash
+pip install backplane-tracecheck
+```
+
+Requires Python 3.11+.
+
+## Quick start
+
+```bash
+# Write the synthetic demo recordings and contract to ./examples
+tracecheck samples
+
+tracecheck validate-contract examples/demo-contract.json
+tracecheck check examples/clean.mcap  --contract examples/demo-contract.json --out reports/clean
+tracecheck check examples/faults.mcap --contract examples/demo-contract.json --out reports/faults
+
+# Optional local browser UI (binds to 127.0.0.1 only)
+tracecheck serve --open
+```
+
+`--out` must be a new directory. Existing reports are never overwritten.
+
+**Useful options**
+
+| Option | Effect |
+|---|---|
+| `--fast` | Read only the summary section: inventory, counts, schemas and metadata in milliseconds. Timing checks (C06–C10) skip. Falls back to a full scan if the file has no usable summary. |
+| `--ignore-missing-crc` | Don't warn when the writer stored no CRCs (same as `"missing_crc": "ignore"` in the contract). Corrupt CRCs still fail. |
+| `--fail-on fail` | Exit 0 on warnings, exit 1 only on failures (the default `warn` also exits 1 on warnings). |
+| `--timeout SECONDS` | Stop a scan that takes too long. |
+| `--max-chunk-mib`, `--max-record-mib`, `--max-tracked-messages` | Raise or lower the memory safety limits (defaults: 256, 256, 20,000,000). |
+
+**Exit codes**
+- `0`: overall pass.
+- `1`: contract failures, warnings or an incomplete scan (all recorded in the report).
+- `2`: configuration, input or operational error. No report is written.
+
+## In the browser
+
+[backplanerobotics.com/tracecheck](https://backplanerobotics.com/tracecheck/) runs the same checks in a Web Worker, using a JavaScript port of the engine in [`web/src/engine/`](https://github.com/backplane-robotics/backplane-tracecheck/tree/main/web/src/engine).
+- The file is read locally in slices and never uploaded.
+- The site's Content-Security-Policy blocks connections to any other origin.
+- For the same inputs, the browser and CLI produce identical JSON reports, apart from timestamps and tool fields. The web test suite checks this.
+
+## A minimal contract
+
+```json
+{
+  "version": 1,
+  "name": "My recording requirements",
+  "topics": {
+    "/my/topic": { "required": true, "min_count": 1 }
+  }
+}
+```
+
+Start minimal, then read the report's channel inventory to see the actual schema names, encodings and fingerprints. Add only the requirements you can justify. See [docs/CONTRACT_REFERENCE.md](https://github.com/backplane-robotics/backplane-tracecheck/blob/main/docs/CONTRACT_REFERENCE.md) for every key.
+
+## The ten checks
+
+| ID | Check |
+|---|---|
+| C01 | Readable bounded MCAP scan (with CRC verification where present) |
+| C02 | Required topics contain messages |
+| C03 | Profile, schema and encoding |
+| C04 | Required file metadata |
+| C05 | Message counts |
+| C06 | Average recorded rate |
+| C07 | Sorted timestamp gaps |
+| C08 | Record-order timestamp regressions |
+| C09 | Sequence continuity |
+| C10 | Expected interval coverage |
+
+**Statuses**
+- **PASS:** the configured requirement was met.
+- **WARN:** a scoped limitation, for example message data with no CRC coverage. Default ROS 2 files with chunk CRCs pass.
+- **FAIL:** an unmet requirement or a failed scan. It does not mean the robot is unsafe.
+- **SKIPPED:** no conclusion was reached.
+
+Tracecheck does not certify safety, establish regulatory compliance, determine causality or measure transport latency.
+
+## Development
+
+```bash
+python -m venv .venv
+.venv/Scripts/activate        # Windows; use `source .venv/bin/activate` elsewhere
+pip install -e ".[dev]"
+python -m pytest
+```
+
+After an intentional behaviour change, regenerate the golden results shared by both test suites and review the diff:
+
+```bash
+tracecheck samples && python tools/make_golden.py
+```
+
+**Website** (Node 20+):
+
+```bash
+cd web
+npm install
+npm test          # engine parity tests against examples/ and the Python engine
+npm run dev       # local dev server
+npm run build     # static site in web/dist (deploy to Cloudflare Pages)
+```
+
+## Repository layout
+
+| Path | Contents |
+|---|---|
+| `src/tracecheck/` | Python package and CLI |
+| `tests/` | Engine, streaming, contract, CLI and local-server tests |
+| `examples/` | Synthetic MCAP recordings, contracts and golden results (invented data) |
+| `docs/` | Contract reference and third-party notices |
+| `tools/` | Maintenance scripts (golden-result generator) |
+| `web/` | Browser-only website and Tracecheck web app for backplanerobotics.com |
+
+## License
+
+Apache-2.0. See [LICENSE](https://github.com/backplane-robotics/backplane-tracecheck/blob/main/LICENSE) and [NOTICE](https://github.com/backplane-robotics/backplane-tracecheck/blob/main/NOTICE). Copyright 2026 Backplane Robotics LLC.

backplane_tracecheck-0.2.0.dist-info/RECORD

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+tracecheck/reader.py,sha256=Kwu7z0UDXj6_68ihBBwiUlxPedg2LdluWefTxMs1wFU,28238
+tracecheck/report.py,sha256=VD3i7xaEUKptw4BjFYX8MubPadkSJq95P0LKoVbd_78,2973
+tracecheck/samples.py,sha256=5qAuVX5awr3BK3-CtMo0bC38DIovm7Zger8-eJacoZU,6396
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+tracecheck/ui.html,sha256=fOMSVp6Mg-qQ6akBMrv3UTEV_xy2u4z7P5N6NKucF2Q,8245
+backplane_tracecheck-0.2.0.dist-info/METADATA,sha256=QWcSnR4x22KDwexhUt6pnORCfSRgLrWspY4b7NvMDCY,7013
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+backplane_tracecheck-0.2.0.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+backplane_tracecheck-0.2.0.dist-info/licenses/NOTICE,sha256=YibcaDSbp5tPQ_95mwOhwNDpiozMHzUgEllBaqr0V14,223
+backplane_tracecheck-0.2.0.dist-info/RECORD,,

backplane_tracecheck-0.2.0.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: hatchling 1.32.4
+Root-Is-Purelib: true
+Tag: py3-none-any

backplane_tracecheck-0.2.0.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+tracecheck = tracecheck.__main__:main

backplane_tracecheck-0.2.0.dist-info/licenses/LICENSE

@@ -0,0 +1,202 @@
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backplane_tracecheck-0.2.0.dist-info/licenses/NOTICE

@@ -0,0 +1,5 @@
+Backplane Tracecheck
+Copyright 2026 Backplane Robotics LLC
+
+This product is licensed under the Apache License, Version 2.0 (see LICENSE).
+Third-party components and their licenses are listed in docs/THIRD_PARTY_NOTICES.md.

tracecheck/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.2.0"

tracecheck/__main__.py

@@ -0,0 +1,131 @@
+"""Command-line interface: ``tracecheck check | validate-contract | samples | serve``."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from pathlib import Path
+
+from . import __version__
+from .contract import ContractError, loads
+from .engine import analyze_file
+from .reader import MiB, Limits
+from .report import render
+
+EXIT_PASS, EXIT_FINDINGS, EXIT_ERROR = 0, 1, 2
+
+
+def _load_contract(path: Path) -> dict:
+    if path.stat().st_size > 65536:
+        raise ContractError("contract exceeds 64 KiB")
+    return loads(path.read_text(encoding="utf-8-sig"))
+
+
+def _parser() -> argparse.ArgumentParser:
+    p = argparse.ArgumentParser(
+        prog="tracecheck",
+        description="Backplane Tracecheck: check MCAP robot recordings against a recording contract. "
+        "Exit 0 pass, 1 findings/warnings, 2 input/config/operational error.",
+    )
+    p.add_argument("--version", action="version", version=f"%(prog)s {__version__}")
+    sub = p.add_subparsers(dest="command", required=True)
+
+    check = sub.add_parser("check", help="check a recording and write JSON + HTML reports")
+    check.add_argument("recording", type=Path)
+    check.add_argument("--contract", type=Path, required=True)
+    check.add_argument("--out", type=Path, required=True, help="new output directory; existing files are never overwritten")
+    check.add_argument("--fast", action="store_true",
+                       help="read only the summary section (inventory, counts, schemas, metadata); timing checks skip")
+    check.add_argument("--ignore-missing-crc", action="store_true",
+                       help="do not warn when CRCs are absent (same as contract \"missing_crc\": \"ignore\")")
+    check.add_argument("--fail-on", choices=["warn", "fail"], default="warn",
+                       help="lowest overall status that gives exit code 1 (default: warn)")
+    check.add_argument("--timeout", type=float, default=None, metavar="SECONDS", help="stop the scan after SECONDS")
+    check.add_argument("--max-chunk-mib", type=int, default=Limits.max_chunk_uncompressed_bytes // MiB,
+                       help="largest allowed uncompressed chunk (default: %(default)s)")
+    check.add_argument("--max-record-mib", type=int, default=Limits.max_record_bytes // MiB,
+                       help="largest allowed record that must be read into memory (default: %(default)s)")
+    check.add_argument("--max-tracked-messages", type=int, default=Limits.max_tracked_messages,
+                       help="timestamps kept in memory for sorted-gap checks (default: %(default)s)")
+    check.add_argument("--quiet", action="store_true", help="no progress output")
+
+    v = sub.add_parser("validate-contract", help="validate a contract file")
+    v.add_argument("contract", type=Path)
+
+    s = sub.add_parser("serve", help="local browser UI on 127.0.0.1 (files up to 64 MiB)")
+    s.add_argument("--port", type=int, default=8765)
+    s.add_argument("--open", action="store_true")
+
+    sm = sub.add_parser("samples", help="write synthetic example recordings and the demo contract")
+    sm.add_argument("--dest", type=Path, default=Path("examples"))
+
+    w = sub.add_parser("_worker")  # internal: used by the local server
+    w.add_argument("recording", type=Path)
+    w.add_argument("contract", type=Path)
+    w.add_argument("--name")
+    return p
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = _parser().parse_args(argv)
+    try:
+        if args.command == "serve":
+            from .server import serve
+
+            serve(args.port, args.open)
+            return EXIT_PASS
+        if args.command == "samples":
+            from .samples import generate
+
+            generate(args.dest)
+            print(f"Synthetic examples ready in {args.dest}/")
+            return EXIT_PASS
+        contract = _load_contract(args.contract)
+        if args.command == "validate-contract":
+            print("Contract valid:", contract["name"])
+            return EXIT_PASS
+        if not args.recording.is_file():
+            raise ValueError("recording must be a regular file")
+        if args.command == "_worker":
+            from .server import UPLOAD_LIMIT
+
+            r = analyze_file(args.recording, contract, args.name or args.recording.name,
+                             limits=Limits(max_seconds=30, max_record_bytes=8 * MiB,
+                                           max_chunk_uncompressed_bytes=UPLOAD_LIMIT))  # fmt: skip
+            print(json.dumps(r, ensure_ascii=True))
+            return EXIT_PASS
+
+        if args.out.exists():
+            raise ValueError("output directory already exists; choose a new --out path")
+        if args.ignore_missing_crc:
+            contract = dict(contract, missing_crc="ignore")
+        limits = Limits(
+            max_seconds=args.timeout,
+            max_chunk_uncompressed_bytes=args.max_chunk_mib * MiB,
+            max_record_bytes=args.max_record_mib * MiB,
+            max_tracked_messages=args.max_tracked_messages,
+        )
+        progress = None
+        if not args.quiet and sys.stderr.isatty() and not args.fast:
+            def progress(done: int, total: int) -> None:
+                print(f"\r  scanned {done / MiB:,.0f} / {total / MiB:,.0f} MiB ({100 * done / max(total, 1):.0f}%)",
+                      end="", file=sys.stderr, flush=True)  # fmt: skip
+        r = analyze_file(args.recording, contract, fast=args.fast, limits=limits, progress=progress)
+        if progress is not None:
+            print(file=sys.stderr)
+        args.out.mkdir(parents=True, exist_ok=False)
+        (args.out / "report.json").write_text(json.dumps(r, indent=2, ensure_ascii=False), encoding="utf-8")
+        (args.out / "report.html").write_text(render(r), encoding="utf-8")
+        note = f" | fast mode fell back to full scan: {r['fast_mode_fallback']}" if "fast_mode_fallback" in r else ""
+        print(f"{r['overall'].upper()} | mode={r['scan_mode']} | scan_complete={r['scan_complete']} | "
+              f"{r['status_counts']} | reports: {args.out}{note}")  # fmt: skip
+        failing = {"warn": ("skipped", "warn", "fail"), "fail": ("fail",)}[args.fail_on]
+        return EXIT_FINDINGS if r["overall"] in failing else EXIT_PASS
+    except (OSError, ValueError) as e:
+        print(f"Error: {e}", file=sys.stderr)
+        return EXIT_ERROR
+
+
+if __name__ == "__main__":
+    sys.exit(main())

tracecheck/contract.py

@@ -0,0 +1,92 @@
+"""Small strict contract language; unknown keys and ambiguous numbers are errors."""
+import json
+import math
+import re
+
+MAX_CONTRACT = 64 * 1024
+MISSING_CRC = ('warn', 'ignore')
+
+class ContractError(ValueError):
+    pass
+
+def require(ok, message):
+    if not ok:
+        raise ContractError(message)
+
+def keys(obj, allowed, where):
+    require(isinstance(obj, dict), f"{where}: expected an object")
+    require(not (set(obj) - set(allowed)), f"{where}: unknown keys {sorted(set(obj)-set(allowed))}")
+
+def string(value, where):
+    require(isinstance(value, str) and 0 < len(value) <= 256, f"{where}: expected 1–256 characters")
+
+def number(value, where, integer=False):
+    require(type(value) in ((int,) if integer else (int, float)) and 0 <= value <= 2**64-1 and math.isfinite(value),
+            f"{where}: expected a finite nonnegative {'integer' if integer else 'number'}")
+
+def unique(pairs):
+    result = {}
+    for k, v in pairs:
+        require(k not in result, f"duplicate key: {k}")
+        result[k] = v
+    return result
+
+def loads(text):
+    require(len(text.encode('utf-8')) <= MAX_CONTRACT, "contract exceeds 64 KiB")
+    try:
+        value = json.loads(text, object_pairs_hook=unique, parse_constant=lambda v: (_ for _ in ()).throw(ContractError(f"invalid number: {v}")))
+    except (ValueError, RecursionError) as e:
+        raise ContractError(str(e)) from e
+    return validate(value)
+
+def validate(c):
+    keys(c, ['version', 'name', 'profile', 'missing_crc', 'metadata', 'topics'], 'contract')
+    require(type(c.get('version')) is int and c['version'] == 1, 'version must be 1')
+    string(c.get('name'), 'name')
+    if 'profile' in c:
+        require(isinstance(c['profile'], str) and len(c['profile']) <= 256, 'profile must be a string')
+    require(c.get('missing_crc', 'warn') in MISSING_CRC, f'missing_crc must be one of {list(MISSING_CRC)}')
+    keys(c.get('metadata', {}), c.get('metadata', {}).keys() if isinstance(c.get('metadata', {}), dict) else [], 'metadata')
+    for name, fields in c.get('metadata', {}).items():
+        string(name, 'metadata name')
+        require(isinstance(fields, dict) and len(fields) <= 30, 'metadata fields must be an object, <=30 keys')
+        for key, expected in fields.items():
+            string(key, 'metadata key')
+            if expected is not None:
+                string(expected, 'metadata expected value')
+    topics = c.get('topics')
+    require(isinstance(topics, dict) and 0 < len(topics) <= 50, 'topics must contain 1–50 entries')
+    for topic, t in topics.items():
+        string(topic, 'topic')
+        keys(t, ['required', 'message_encoding', 'schema_name', 'schema_encoding', 'schema_sha256', 'min_count', 'max_count',
+                 'time_basis', 'clock_confirmed', 'min_rate_hz', 'max_rate_hz', 'max_gap_ns',
+                 'check_regression', 'sequence', 'interval_ns', 'boundary_tolerance_ns'], topic)
+        for k in ['required', 'clock_confirmed', 'check_regression']:
+            if k in t:
+                require(type(t[k]) is bool, f'{topic}.{k}: expected boolean')
+        for k in ['message_encoding', 'schema_name', 'schema_encoding']:
+            if k in t:
+                string(t[k], f'{topic}.{k}')
+        if 'schema_sha256' in t:
+            require(isinstance(t['schema_sha256'], str) and re.fullmatch('[0-9a-f]{64}', t['schema_sha256']) is not None,
+                    f'{topic}.schema_sha256: expected 64 lowercase hex characters')
+        for k in ['min_count', 'max_count', 'max_gap_ns', 'boundary_tolerance_ns']:
+            if k in t:
+                number(t[k], f'{topic}.{k}', True)
+        for k in ['min_rate_hz', 'max_rate_hz']:
+            if k in t:
+                number(t[k], f'{topic}.{k}')
+        for lo, hi in [('min_count', 'max_count'), ('min_rate_hz', 'max_rate_hz')]:
+            if lo in t and hi in t:
+                require(t[lo] <= t[hi], f'{topic}: {lo} exceeds {hi}')
+        require(t.get('time_basis', 'log_time') in ['log_time', 'publish_time'], f'{topic}: unsupported time_basis')
+        require(t.get('sequence', 'disabled') in ['disabled', 'increment_mod32'], f'{topic}: unsupported sequence policy')
+        if 'interval_ns' in t:
+            v = t['interval_ns']
+            require(isinstance(v, list) and len(v) == 2, f'{topic}: interval_ns needs [start,end]')
+            for x in v:
+                number(x, f'{topic}.interval_ns', True)
+            require(v[0] < v[1], f'{topic}: interval start must precede end')
+            require(t.get('boundary_tolerance_ns', 0) * 2 <= v[1]-v[0], f'{topic}: boundary tolerance too large')
+    require(len(json.dumps(c).encode()) <= MAX_CONTRACT, 'contract exceeds 64 KiB')
+    return c