current-data-py 0.1.0__py3-none-any.whl

current_data_py/message_metadata.py

@@ -0,0 +1,31 @@
+from google.protobuf import descriptor_pb2
+
+from .schema import SCHEMA_TO_CLASS
+
+
+CLASS_TO_SCHEMA = {message_class: schema for schema, message_class in SCHEMA_TO_CLASS.items()}
+
+
+def descriptor_set(message_class) -> bytes:
+    seen = set()
+    result = descriptor_pb2.FileDescriptorSet()
+
+    def collect(descriptor) -> None:
+        if descriptor.name in seen:
+            return
+        seen.add(descriptor.name)
+        for dependency in descriptor.dependencies:
+            collect(dependency)
+        result.file.add().ParseFromString(descriptor.serialized_pb)
+
+    collect(message_class.DESCRIPTOR.file)
+    return result.SerializeToString()
+
+
+def topic_metadata(message_class) -> dict[str, object]:
+    return {
+        "message_encoding": "protobuf",
+        "schema_name": CLASS_TO_SCHEMA[message_class],
+        "schema_encoding": "protobuf",
+        "schema_data": descriptor_set(message_class),
+    }

current_data_py/read_td.py

@@ -0,0 +1,30 @@
+import argparse
+from pathlib import Path
+
+from turbodata import FileReadSource, Reader
+
+from .schema import SCHEMA_TO_CLASS
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Read protobuf messages from a TD file")
+    parser.add_argument("path", type=Path)
+    args = parser.parse_args()
+
+    with FileReadSource(str(args.path)) as source:
+        reader = Reader(source)
+        schemas = {
+            topic.name: topic.metadata["schema_name"]
+            for group in reader.summary().topics_infos
+            for topic in group.topic_metadatas
+        }
+
+        for message in reader.read_messages(topic_names=["/head/pose/command"]):
+            schema = schemas[message.topic_name]
+            msg = SCHEMA_TO_CLASS[schema]()
+            msg.ParseFromString(message.data)
+            print(message.timestamp, message.topic_name, schema, msg.position.y)
+
+
+if __name__ == "__main__":
+    main()

current_data_py/schema.py

@@ -0,0 +1,102 @@
+from ._proto.builtin_interfaces.duration_pb2 import Duration
+from ._proto.builtin_interfaces.time_pb2 import Time
+from ._proto.custom_msgs.joint_current_pb2 import JointCurrent
+from ._proto.foxglove.compressed_video_pb2 import CompressedVideo
+from ._proto.geometry_msgs.point_pb2 import Point
+from ._proto.geometry_msgs.point32_pb2 import Point32
+from ._proto.geometry_msgs.pose_pb2 import Pose
+from ._proto.geometry_msgs.pose_stamped_pb2 import PoseStamped
+from ._proto.geometry_msgs.pose_with_covariance_pb2 import PoseWithCovariance
+from ._proto.geometry_msgs.pose_with_covariance_stamped_pb2 import PoseWithCovarianceStamped
+from ._proto.geometry_msgs.quaternion_pb2 import Quaternion
+from ._proto.geometry_msgs.transform_pb2 import Transform
+from ._proto.geometry_msgs.transform_stamped_pb2 import TransformStamped
+from ._proto.geometry_msgs.twist_pb2 import Twist
+from ._proto.geometry_msgs.twist_stamped_pb2 import TwistStamped
+from ._proto.geometry_msgs.twist_with_covariance_pb2 import TwistWithCovariance
+from ._proto.geometry_msgs.twist_with_covariance_stamped_pb2 import TwistWithCovarianceStamped
+from ._proto.geometry_msgs.vector3_pb2 import Vector3
+from ._proto.geometry_msgs.wrench_pb2 import Wrench
+from ._proto.geometry_msgs.wrench_stamped_pb2 import WrenchStamped
+from ._proto.nav_msgs.map_meta_data_pb2 import MapMetaData
+from ._proto.nav_msgs.occupancy_grid_pb2 import OccupancyGrid
+from ._proto.nav_msgs.odometry_pb2 import Odometry
+from ._proto.nav_msgs.path_pb2 import Path
+from ._proto.sensor_msgs.battery_state_pb2 import BatteryState
+from ._proto.sensor_msgs.camera_info_pb2 import CameraInfo
+from ._proto.sensor_msgs.compressed_image_pb2 import CompressedImage
+from ._proto.sensor_msgs.image_pb2 import Image
+from ._proto.sensor_msgs.imu_pb2 import Imu
+from ._proto.sensor_msgs.joint_state_pb2 import JointState
+from ._proto.sensor_msgs.laser_scan_pb2 import LaserScan
+from ._proto.sensor_msgs.nav_sat_fix_pb2 import NavSatFix
+from ._proto.sensor_msgs.nav_sat_status_pb2 import NavSatStatus
+from ._proto.sensor_msgs.point_cloud2_pb2 import PointCloud2
+from ._proto.sensor_msgs.point_field_pb2 import PointField
+from ._proto.sensor_msgs.range_pb2 import Range
+from ._proto.sensor_msgs.region_of_interest_pb2 import RegionOfInterest
+from ._proto.std_msgs.bool_pb2 import Bool
+from ._proto.std_msgs.color_rgba_pb2 import ColorRGBA
+from ._proto.std_msgs.float32_pb2 import Float32
+from ._proto.std_msgs.float64_pb2 import Float64
+from ._proto.std_msgs.header_pb2 import Header
+from ._proto.std_msgs.int32_pb2 import Int32
+from ._proto.std_msgs.string_pb2 import String
+from ._proto.std_msgs.uint32_pb2 import UInt32
+from ._proto.tf2_msgs.tf_message_pb2 import TFMessage
+
+
+SCHEMA_TO_CLASS = {
+    "builtin_interfaces.Duration": Duration,
+    "builtin_interfaces.Time": Time,
+    "custom_msgs.JointCurrent": JointCurrent,
+    "foxglove.CompressedVideo": CompressedVideo,
+    "geometry_msgs.Point": Point,
+    "geometry_msgs.Point32": Point32,
+    "geometry_msgs.Pose": Pose,
+    "geometry_msgs.PoseStamped": PoseStamped,
+    "geometry_msgs.PoseWithCovariance": PoseWithCovariance,
+    "geometry_msgs.PoseWithCovarianceStamped": PoseWithCovarianceStamped,
+    "geometry_msgs.Quaternion": Quaternion,
+    "geometry_msgs.Transform": Transform,
+    "geometry_msgs.TransformStamped": TransformStamped,
+    "geometry_msgs.Twist": Twist,
+    "geometry_msgs.TwistStamped": TwistStamped,
+    "geometry_msgs.TwistWithCovariance": TwistWithCovariance,
+    "geometry_msgs.TwistWithCovarianceStamped": TwistWithCovarianceStamped,
+    "geometry_msgs.Vector3": Vector3,
+    "geometry_msgs.Wrench": Wrench,
+    "geometry_msgs.WrenchStamped": WrenchStamped,
+    "nav_msgs.MapMetaData": MapMetaData,
+    "nav_msgs.OccupancyGrid": OccupancyGrid,
+    "nav_msgs.Odometry": Odometry,
+    "nav_msgs.Path": Path,
+    "sensor_msgs.BatteryState": BatteryState,
+    "sensor_msgs.CameraInfo": CameraInfo,
+    "sensor_msgs.CompressedImage": CompressedImage,
+    "sensor_msgs.Image": Image,
+    "sensor_msgs.Imu": Imu,
+    "sensor_msgs.JointState": JointState,
+    "sensor_msgs.LaserScan": LaserScan,
+    "sensor_msgs.NavSatFix": NavSatFix,
+    "sensor_msgs.NavSatStatus": NavSatStatus,
+    "sensor_msgs.PointCloud2": PointCloud2,
+    "sensor_msgs.PointField": PointField,
+    "sensor_msgs.Range": Range,
+    "sensor_msgs.RegionOfInterest": RegionOfInterest,
+    "std_msgs.Bool": Bool,
+    "std_msgs.ColorRGBA": ColorRGBA,
+    "std_msgs.Float32": Float32,
+    "std_msgs.Float64": Float64,
+    "std_msgs.Header": Header,
+    "std_msgs.Int32": Int32,
+    "std_msgs.String": String,
+    "std_msgs.UInt32": UInt32,
+    "tf2_msgs.TFMessage": TFMessage,
+}
+
+
+if __name__ == "__main__":
+    print("SCHEMA_TO_CLASS:")
+    for schema, msg_class in SCHEMA_TO_CLASS.items():
+        print(f"  {schema}: {msg_class}")

current_data_py/write_td.py

@@ -0,0 +1,30 @@
+import argparse
+import time
+from pathlib import Path
+
+from turbodata import Writer
+
+from .message_metadata import topic_metadata
+from .schema import Pose
+
+
+TOPIC = "/head/pose/command"
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Write a protobuf message to a TD file")
+    parser.add_argument("path", type=Path)
+    args = parser.parse_args()
+
+    message = Pose()
+    message.position.y = 1.0
+
+    with args.path.open("wb") as output, Writer(output) as writer:
+        writer.open_topics([TOPIC], [topic_metadata(type(message))])
+        timestamp = time.time_ns()
+        writer.write_message(TOPIC, message.SerializeToString(), timestamp)
+        writer.close_topic()
+
+
+if __name__ == "__main__":
+    main()

current_data_py-0.1.0.dist-info/METADATA

@@ -0,0 +1,70 @@
+Metadata-Version: 2.4
+Name: current-data-py
+Version: 0.1.0
+Summary: Current Data protobuf messages and schema metadata
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown
+Requires-Dist: protobuf>=3.20
+Requires-Dist: turbodata==0.1.0
+
+# current-data-py
+
+Current Data protobuf messages and schema metadata. Requires Python 3.9+.
+
+```bash
+pip install current-data-py
+```
+
+```python
+from current_data_py import SCHEMA_TO_CLASS, descriptor_set, topic_metadata
+from current_data_py.schema import Pose
+
+message = Pose()
+message.position.y = 1.0
+metadata = topic_metadata(Pose)
+decoded = SCHEMA_TO_CLASS[metadata["schema_name"]].FromString(message.SerializeToString())
+```
+
+TD examples write/read a Pose on `/head/pose/command`:
+
+```bash
+python -m current_data_py.write_td example.td
+python -m current_data_py.read_td example.td
+```
+
+## Development and releases
+
+Packaging configuration lives in `current_data_py/`. Generated messages live
+only in the repository's `proto_gen/python/msg`. Regenerate them using the
+existing `proto/generate.sh` workflow after changing `proto/msg`.
+The build reads those files and adjusts their Python imports in the build
+directory, placing them under `current_data_py._proto` in the wheel.
+It does not modify or duplicate generated sources in the checkout.
+The source distribution includes the original generated files so it can also
+build without `protoc`. Installation requires neither the repository nor `protoc`.
+
+```bash
+cd current_data_py  # from the repository root
+python -m pip install build twine
+python -m build
+python -m twine check dist/*
+python tests/check_distribution.py
+```
+
+Artifacts are written to `current_data_py/dist/`. The build adds the shared
+protobuf inputs to the source archive without copying them into this directory.
+
+For development, use a regular `pip install .` and run from outside the checkout;
+reinstall after changes. Editable installs are not supported by this build step.
+
+Install the wheel in a fresh environment and run
+`python /absolute/path/to/current_data_py/tests/check_package.py` from outside
+the repository. Use a clean `dist` for each release and increment the version
+in `pyproject.toml`. Confirm the package name, license and supported Python
+versions before publishing. No license has been selected yet.
+
+```bash
+python -m twine upload --repository testpypi dist/*
+# After validating the test release:
+python -m twine upload dist/*
+```

current_data_py-0.1.0.dist-info/RECORD

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current_data_py-0.1.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: setuptools (84.0.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

current_data_py-0.1.0.dist-info/top_level.txt

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+current_data_py