cyberwave-contracts 0.1.0__tar.gz

cyberwave_contracts-0.1.0/LICENSE

@@ -0,0 +1,201 @@
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cyberwave_contracts-0.1.0/PKG-INFO

@@ -0,0 +1,161 @@
+Metadata-Version: 2.4
+Name: cyberwave-contracts
+Version: 0.1.0
+Summary: Payload and configuration contracts shared by the Cyberwave backend, SDK, and edge components
+Author-email: Cyberwave Team <info@cyberwave.com>
+License: Apache-2.0
+Project-URL: Homepage, https://cyberwave.com
+Project-URL: Documentation, https://docs.cyberwave.com
+Project-URL: Repository, https://github.com/cyberwave-os/cyberwave-contracts
+Keywords: robotics,contracts,json-schema,pydantic,cyberwave
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pydantic>=2
+Requires-Dist: pyyaml>=6.0
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0; extra == "dev"
+Requires-Dist: ruff==0.9.9; extra == "dev"
+Dynamic: license-file
+
+# cyberwave-contracts
+
+Payload and configuration contracts shared by the Cyberwave backend, SDK, edge
+components and simulator.
+
+A **contract** is a payload shape that more than one component depends on. Each is
+defined once as a JSON Schema, and a pydantic model is generated from it — so the
+code that validates a payload cannot drift from the schema that documents it.
+
+```bash
+pip install cyberwave-contracts
+```
+
+This repository is a read-only mirror of the `cyberwave-contracts/` directory of
+the Cyberwave monorepo, published on every production release; issues are
+welcome, but changes land upstream. Inside the monorepo the backend, the edge
+images and the simulator install the package from the checkout rather than from
+PyPI, and the schemas are also served at `GET /api/v1/contracts`.
+
+## Validating a payload
+
+```python
+from cyberwave_contracts import MODELS_BY_CONTRACT_ID
+
+model = MODELS_BY_CONTRACT_ID["locomotion.velocity_command.v1"]
+command = model.model_validate(payload)      # raises ValidationError if malformed
+
+command.linear_x     # typed float, autocompletes
+command.gait         # Literal["walk", "trot", "stand"]
+```
+
+Every contract payload names itself in a required field, so you never have to
+infer which contract you are holding from the shape of the fields:
+
+```python
+model = MODELS_BY_CONTRACT_ID[payload["contract"]]
+```
+
+## What ships
+
+| | |
+| --- | --- |
+| `cyberwave_contracts.schemas` | the JSON Schemas, usable from any language |
+| `cyberwave_contracts.models` | generated pydantic models, one per schema |
+| `cyberwave_contracts.manifest` | the index: every contract, its owner, and where it is mirrored |
+| `cyberwave_contracts.source_type` | the authoritative decomposition of legacy `source_type` provenance |
+| `cyberwave_contracts.locomotion` | the locomotion and aerial velocity commands: normalising, clamping, building and stopping them (standard library only) |
+
+The schemas are installed with the package, so validation works offline and
+against a pinned version rather than whatever a server happened to return.
+
+They are also served unauthenticated at `GET /api/v1/contracts` for non-Python
+consumers.
+
+## Contracts
+
+| id | what it carries |
+| --- | --- |
+| `locomotion.velocity_command.v1` | body-frame velocity command for ground robots |
+| `aerial.velocity_command.v1` | the same for free-body / aerial platforms |
+| `policy_artifact_manifest.v1` | the files making up a policy artifact |
+| `simulation_policy_manifest.v1` | policy bindings exported for a simulator |
+| `source_type.envelope.v1` | flat transport overlay requiring `source_type` |
+| `twin.command_response.v1` | the reply to a twin command sent over MQTT v5 request/response |
+
+`GET /api/v1/contracts` lists what a given deployment serves.
+
+## Transport envelope
+
+MQTT payloads keep their existing flat JSON shape. The v1 transport envelope
+requires only `source_type` and preserves every domain field beside it:
+
+```python
+from cyberwave_contracts import SourceTypeEnvelopeV1
+
+envelope = SourceTypeEnvelopeV1.model_validate(
+    {"source_type": "tele", "command": "move_forward", "data": {}}
+)
+```
+
+Domain payload models inherit this generated model, so one `payload_schema`
+validation checks both the routing discriminator and topic-specific fields. This
+keeps routing metadata owned by the transport layer without nesting or duplicating
+it in every domain contract. The semantic decomposition remains in
+`source_type_axes.yml` and is checked against the schema vocabulary.
+
+## Versioning
+
+A contract id ends in its version (`…v1`). Within a version, changes are
+**additive only** — a payload valid against `v1` stays valid. A field that becomes
+required, an enum value that is removed, or a type that narrows is a new version.
+
+Contract roots accept unknown properties, so a newer publisher can add fields your
+version has not heard of, and your model keeps them rather than dropping them on a
+round-trip.
+
+## Development
+
+```bash
+make models     # regenerate the pydantic models from the schemas
+```
+
+Generated output is committed, so consumers need no build step. CI fails if a
+schema changes without the models being regenerated.
+
+Runtime dependencies are deliberately limited to `pydantic` and `pyyaml`: this
+package is imported by every Cyberwave component, so anything added here is added
+to all of them.
+
+## License
+
+Apache-2.0
+
+## Command request/response over MQTT v5
+
+A twin command (`{prefix}cyberwave/twin/{twin_uuid}/command`) is fire-and-forget
+over MQTT 3.1.1. Over MQTT v5 a caller can ask for the outcome instead of
+guessing it:
+
+1. **Requester** connects with MQTT v5 and subscribes, for each twin it will
+   command, to its own reply inbox under that twin:
+   `{prefix}cyberwave/twin/{twin_uuid}/command/{client_id}/response`. The broker
+   lets only the client with that client id read it, so other readers of the
+   twin (including `twin/{twin_uuid}/#` subscribers) never see the reply.
+2. It publishes the command with two v5 properties:
+   - **Response Topic** `{prefix}cyberwave/twin/{twin_uuid}/command/{client_id}/response`
+   - **Correlation Data**: opaque bytes, unique per request (e.g. a UUID).
+3. **Handler** (the twin's driver) publishes exactly one
+   `twin.command_response.v1` payload to that Response Topic, QoS 1, echoing the
+   Correlation Data. Publishing there is an ordinary write to the twin, so one
+   twin's driver cannot answer for another; the handler also ignores a Response
+   Topic that is not this twin's reply inbox.
+4. The requester matches the reply by Correlation Data. `status` tells it what
+   happened: `accepted`, `rejected` (refused before reaching the device),
+   `denied` (the device refused, with `reason` and the device's `messages`) or
+   `timeout`.
+
+A request without a Response Topic is handled exactly as before and gets no
+reply, so MQTT 3.1.1 publishers are unaffected. Requesters should still bound
+their wait: a handler that predates this contract never replies.
+

cyberwave_contracts-0.1.0/README.md

@@ -0,0 +1,141 @@
+# cyberwave-contracts
+
+Payload and configuration contracts shared by the Cyberwave backend, SDK, edge
+components and simulator.
+
+A **contract** is a payload shape that more than one component depends on. Each is
+defined once as a JSON Schema, and a pydantic model is generated from it — so the
+code that validates a payload cannot drift from the schema that documents it.
+
+```bash
+pip install cyberwave-contracts
+```
+
+This repository is a read-only mirror of the `cyberwave-contracts/` directory of
+the Cyberwave monorepo, published on every production release; issues are
+welcome, but changes land upstream. Inside the monorepo the backend, the edge
+images and the simulator install the package from the checkout rather than from
+PyPI, and the schemas are also served at `GET /api/v1/contracts`.
+
+## Validating a payload
+
+```python
+from cyberwave_contracts import MODELS_BY_CONTRACT_ID
+
+model = MODELS_BY_CONTRACT_ID["locomotion.velocity_command.v1"]
+command = model.model_validate(payload)      # raises ValidationError if malformed
+
+command.linear_x     # typed float, autocompletes
+command.gait         # Literal["walk", "trot", "stand"]
+```
+
+Every contract payload names itself in a required field, so you never have to
+infer which contract you are holding from the shape of the fields:
+
+```python
+model = MODELS_BY_CONTRACT_ID[payload["contract"]]
+```
+
+## What ships
+
+| | |
+| --- | --- |
+| `cyberwave_contracts.schemas` | the JSON Schemas, usable from any language |
+| `cyberwave_contracts.models` | generated pydantic models, one per schema |
+| `cyberwave_contracts.manifest` | the index: every contract, its owner, and where it is mirrored |
+| `cyberwave_contracts.source_type` | the authoritative decomposition of legacy `source_type` provenance |
+| `cyberwave_contracts.locomotion` | the locomotion and aerial velocity commands: normalising, clamping, building and stopping them (standard library only) |
+
+The schemas are installed with the package, so validation works offline and
+against a pinned version rather than whatever a server happened to return.
+
+They are also served unauthenticated at `GET /api/v1/contracts` for non-Python
+consumers.
+
+## Contracts
+
+| id | what it carries |
+| --- | --- |
+| `locomotion.velocity_command.v1` | body-frame velocity command for ground robots |
+| `aerial.velocity_command.v1` | the same for free-body / aerial platforms |
+| `policy_artifact_manifest.v1` | the files making up a policy artifact |
+| `simulation_policy_manifest.v1` | policy bindings exported for a simulator |
+| `source_type.envelope.v1` | flat transport overlay requiring `source_type` |
+| `twin.command_response.v1` | the reply to a twin command sent over MQTT v5 request/response |
+
+`GET /api/v1/contracts` lists what a given deployment serves.
+
+## Transport envelope
+
+MQTT payloads keep their existing flat JSON shape. The v1 transport envelope
+requires only `source_type` and preserves every domain field beside it:
+
+```python
+from cyberwave_contracts import SourceTypeEnvelopeV1
+
+envelope = SourceTypeEnvelopeV1.model_validate(
+    {"source_type": "tele", "command": "move_forward", "data": {}}
+)
+```
+
+Domain payload models inherit this generated model, so one `payload_schema`
+validation checks both the routing discriminator and topic-specific fields. This
+keeps routing metadata owned by the transport layer without nesting or duplicating
+it in every domain contract. The semantic decomposition remains in
+`source_type_axes.yml` and is checked against the schema vocabulary.
+
+## Versioning
+
+A contract id ends in its version (`…v1`). Within a version, changes are
+**additive only** — a payload valid against `v1` stays valid. A field that becomes
+required, an enum value that is removed, or a type that narrows is a new version.
+
+Contract roots accept unknown properties, so a newer publisher can add fields your
+version has not heard of, and your model keeps them rather than dropping them on a
+round-trip.
+
+## Development
+
+```bash
+make models     # regenerate the pydantic models from the schemas
+```
+
+Generated output is committed, so consumers need no build step. CI fails if a
+schema changes without the models being regenerated.
+
+Runtime dependencies are deliberately limited to `pydantic` and `pyyaml`: this
+package is imported by every Cyberwave component, so anything added here is added
+to all of them.
+
+## License
+
+Apache-2.0
+
+## Command request/response over MQTT v5
+
+A twin command (`{prefix}cyberwave/twin/{twin_uuid}/command`) is fire-and-forget
+over MQTT 3.1.1. Over MQTT v5 a caller can ask for the outcome instead of
+guessing it:
+
+1. **Requester** connects with MQTT v5 and subscribes, for each twin it will
+   command, to its own reply inbox under that twin:
+   `{prefix}cyberwave/twin/{twin_uuid}/command/{client_id}/response`. The broker
+   lets only the client with that client id read it, so other readers of the
+   twin (including `twin/{twin_uuid}/#` subscribers) never see the reply.
+2. It publishes the command with two v5 properties:
+   - **Response Topic** `{prefix}cyberwave/twin/{twin_uuid}/command/{client_id}/response`
+   - **Correlation Data**: opaque bytes, unique per request (e.g. a UUID).
+3. **Handler** (the twin's driver) publishes exactly one
+   `twin.command_response.v1` payload to that Response Topic, QoS 1, echoing the
+   Correlation Data. Publishing there is an ordinary write to the twin, so one
+   twin's driver cannot answer for another; the handler also ignores a Response
+   Topic that is not this twin's reply inbox.
+4. The requester matches the reply by Correlation Data. `status` tells it what
+   happened: `accepted`, `rejected` (refused before reaching the device),
+   `denied` (the device refused, with `reason` and the device's `messages`) or
+   `timeout`.
+
+A request without a Response Topic is handled exactly as before and gets no
+reply, so MQTT 3.1.1 publishers are unaffected. Requesters should still bound
+their wait: a handler that predates this contract never replies.
+

cyberwave_contracts-0.1.0/cyberwave_contracts/__init__.py

@@ -0,0 +1,78 @@
+"""Cyberwave payload and configuration contracts.
+
+A contract is a payload shape that more than one component depends on. Each is
+defined once as a JSON Schema in :mod:`cyberwave_contracts.schemas`, indexed in
+``manifest.yml``, and generated into a pydantic model in
+:mod:`cyberwave_contracts.models`.
+
+Validate a payload you received::
+
+    from cyberwave_contracts import MODELS_BY_CONTRACT_ID
+
+    model = MODELS_BY_CONTRACT_ID["locomotion.velocity_command.v1"]
+    command = model.model_validate(payload)   # raises if it does not conform
+
+Complete payload contracts name themselves in a required const field, so a
+consumer never has to infer which contract it is holding from its shape. Overlay
+contracts constrain shared fields on those payloads without adding another wire
+identity field.
+"""
+
+from cyberwave_contracts.manifest import (
+    MANIFEST_PATH,
+    SCHEMAS_DIR,
+    SHAPE_OWNERSHIP,
+    Contract,
+    Mirror,
+    load_contracts,
+    validate_ownership,
+)
+from cyberwave_contracts.models import (
+    MODELS_BY_CONTRACT_ID,
+    AerialVelocityCommandV1,
+    ArtifactFile,
+    LocomotionVelocityCommandV1,
+    PolicyArtifactManifestV1,
+    PolicyBinding,
+    PolicyBindingPolicyConfig,
+    PolicyBindingPolicyConfigNavigationCommandMinimums,
+    PolicyBindingPolicyRef,
+    SimulationPolicyManifestV1,
+    SourceTypeEnvelopeV1,
+)
+from cyberwave_contracts.source_type import (
+    SOURCE_TYPE_AXES_PATH,
+    SOURCE_TYPE_VALUES,
+    SourceType,
+    load_source_type_axes,
+    source_types_where,
+)
+
+__version__ = "0.1.0"
+
+__all__ = [
+    "MANIFEST_PATH",
+    "MODELS_BY_CONTRACT_ID",
+    "SCHEMAS_DIR",
+    "SOURCE_TYPE_AXES_PATH",
+    "SOURCE_TYPE_VALUES",
+    "SHAPE_OWNERSHIP",
+    "AerialVelocityCommandV1",
+    "ArtifactFile",
+    "Contract",
+    "LocomotionVelocityCommandV1",
+    "Mirror",
+    "PolicyArtifactManifestV1",
+    "PolicyBinding",
+    "PolicyBindingPolicyConfig",
+    "PolicyBindingPolicyConfigNavigationCommandMinimums",
+    "PolicyBindingPolicyRef",
+    "SimulationPolicyManifestV1",
+    "SourceType",
+    "SourceTypeEnvelopeV1",
+    "__version__",
+    "load_contracts",
+    "load_source_type_axes",
+    "source_types_where",
+    "validate_ownership",
+]