dexcontrol 0.2.10__py3-none-any.whl → 0.3.0__py3-none-any.whl

dexcontrol/utils/zenoh_utils.py

@@ -10,19 +10,158 @@
 
 """Zenoh utilities for dexcontrol.
 
-This module provides general utility functions for working with Zenoh
-communication framework.
+This module provides comprehensive utility functions for working with Zenoh
+communication framework, including session management, configuration loading,
+JSON queries, and statistics computation.
 """
 
+import gc
 import json
+import threading
 import time
+from pathlib import Path
+from typing import TYPE_CHECKING
 
+import numpy as np
 import zenoh
 from loguru import logger
+from omegaconf import DictConfig, OmegaConf
 
+import dexcontrol
+from dexcontrol.config.vega import get_vega_config
 from dexcontrol.utils.os_utils import resolve_key_name
 
+if TYPE_CHECKING:
+    from dexcontrol.config.vega import VegaConfig
 
+
+# =============================================================================
+# Session Management Functions
+# =============================================================================
+
+
+def get_default_zenoh_config() -> str | None:
+    """Gets the default zenoh configuration file path.
+
+    Returns:
+        Path to default config file if it exists, None otherwise.
+    """
+    default_path = dexcontrol.COMM_CFG_PATH
+    if not default_path.exists():
+        logger.warning(f"Zenoh config file not found at {default_path}")
+        logger.warning("Please use dextop to set up the zenoh config file")
+        return None
+    return str(default_path)
+
+
+def create_zenoh_session(zenoh_config_file: str | None = None) -> zenoh.Session:
+    """Creates and initializes a Zenoh communication session.
+
+    Args:
+        zenoh_config_file: Path to zenoh configuration file. If None,
+                          uses the default configuration path.
+
+    Returns:
+        Initialized zenoh session.
+
+    Raises:
+        RuntimeError: If zenoh session initialization fails.
+    """
+    try:
+        config_path = zenoh_config_file or get_default_zenoh_config()
+        if config_path is None:
+            logger.warning("Using default zenoh config settings")
+            return zenoh.open(zenoh.Config())
+        return zenoh.open(zenoh.Config.from_file(config_path))
+    except Exception as e:
+        raise RuntimeError(f"Failed to initialize zenoh session: {e}") from e
+
+
+def load_robot_config(
+    robot_config_path: str | None = None,
+) -> "VegaConfig":
+    """Load robot configuration from file or use default variant.
+
+    Args:
+        robot_config_path: Path to robot configuration file. If None,
+                          uses default configuration for detected robot model.
+
+    Returns:
+        Robot configuration as OmegaConf object.
+
+    Raises:
+        ValueError: If configuration cannot be loaded or parsed.
+    """
+    try:
+        if robot_config_path is not None:
+            # Load custom configuration from file
+            config_path = Path(robot_config_path)
+            if not config_path.exists():
+                raise ValueError(f"Configuration file not found: {config_path}")
+
+            # Load YAML configuration and merge with default
+            base_config = DictConfig, get_vega_config()
+            custom_config = OmegaConf.load(config_path)
+            return OmegaConf.merge(base_config, custom_config)
+        else:
+            # Use default configuration for detected robot model
+            try:
+                return get_vega_config()
+            except ValueError as e:
+                # If robot model detection fails, use default vega-1 config
+                if "Robot name is not set" in str(e):
+                    logger.warning(
+                        "Robot model not detected, using default vega-1 configuration"
+                    )
+                    return get_vega_config("vega-1")
+                raise
+
+    except Exception as e:
+        raise ValueError(f"Failed to load robot configuration: {e}") from e
+
+
+def create_standalone_robot_interface(
+    zenoh_config_file: str | None = None,
+    robot_config_path: str | None = None,
+) -> tuple[zenoh.Session, "VegaConfig"]:
+    """Create standalone zenoh session and robot configuration.
+
+    This function provides a convenient way to create both a zenoh session
+    and robot configuration for use with RobotQueryInterface without
+    requiring the full Robot class initialization.
+
+    Args:
+        zenoh_config_file: Path to zenoh configuration file. If None,
+                          uses the default configuration path.
+        robot_config_path: Path to robot configuration file. If None,
+                          uses default configuration for detected robot model.
+
+    Returns:
+        Tuple of (zenoh_session, robot_config) ready for use with
+        RobotQueryInterface.
+
+    Raises:
+        RuntimeError: If zenoh session initialization fails.
+        ValueError: If robot configuration cannot be loaded.
+
+    Example:
+        >>> session, config = create_standalone_robot_interface()
+        >>> query_interface = RobotQueryInterface(session, config)
+        >>> version_info = query_interface.get_version_info()
+        >>> session.close()
+    """
+    # Create zenoh session
+    session = create_zenoh_session(zenoh_config_file)
+
+    # Load robot configuration
+    config = load_robot_config(robot_config_path)
+
+    return session, config
+
+
+# =============================================================================
+# Query and Communication Functions
+# =============================================================================
 def query_zenoh_json(
     zenoh_session: zenoh.Session,
     topic: str,
@@ -81,3 +220,150 @@ def query_zenoh_json(
                 logger.error(f"Query failed after {max_retries + 1} attempts: {e}")
 
     return None
+
+
+# =============================================================================
+# Cleanup and Exit Handling Functions
+# =============================================================================
+def close_zenoh_session_with_timeout(
+    session: zenoh.Session, timeout: float = 2.0
+) -> tuple[bool, Exception | None]:
+    """Close a Zenoh session with timeout handling.
+
+    This function attempts to close a Zenoh session gracefully with a timeout.
+    If the close operation takes too long, it returns with a timeout indication.
+
+    Args:
+        session: The Zenoh session to close.
+        timeout: Maximum time to wait for session close (default 2.0 seconds).
+
+    Returns:
+        Tuple of (success, exception):
+        - success: True if session closed successfully, False otherwise
+        - exception: Any exception that occurred during close, or None
+    """
+
+    close_success = False
+    close_exception = None
+
+    def _close_session():
+        """Inner function to close the session."""
+        nonlocal close_success, close_exception
+        try:
+            session.close()
+            close_success = True
+        except Exception as e:  # pylint: disable=broad-except
+            close_exception = e
+            logger.debug(f"Zenoh session close attempt failed: {e}")
+            # Try to trigger garbage collection as fallback
+            try:
+                gc.collect()
+            except Exception:  # pylint: disable=broad-except
+                pass
+
+    # Try to close zenoh session with timeout
+    close_thread = threading.Thread(target=_close_session, daemon=True)
+    close_thread.start()
+
+    # Use progressive timeout strategy
+    timeouts = [timeout / 2, timeout / 2]  # Split timeout into two attempts
+    for i, wait_time in enumerate(timeouts):
+        close_thread.join(timeout=wait_time)
+        if not close_thread.is_alive():
+            break
+
+    if close_thread.is_alive():
+        return False, Exception("Close operation timed out")
+    elif close_success:
+        return True, None
+    else:
+        logger.debug(f"Zenoh session closed with error: {close_exception}")
+        return False, close_exception
+
+
+def wait_for_zenoh_cleanup(cleanup_delays: list[float] | None = None) -> list[str]:
+    """Wait for Zenoh internal threads to clean up.
+
+    This function waits for Zenoh's internal pyo3 threads to clean up after
+    session closure, using progressive delays to balance responsiveness and
+    thoroughness.
+
+    Args:
+        cleanup_delays: List of delays in seconds to wait between checks.
+                       Defaults to [0.1, 0.2, 0.3] if not provided.
+
+    Returns:
+        List of thread names that are still active after cleanup attempts.
+    """
+    if cleanup_delays is None:
+        cleanup_delays = [0.1, 0.2, 0.3]  # Progressive delays totaling 0.6s
+
+    for delay in cleanup_delays:
+        time.sleep(delay)
+        # Check if threads are still active
+        active_threads = get_active_zenoh_threads()
+        if not active_threads:
+            return []
+
+    # Return any remaining threads
+    lingering_threads = get_active_zenoh_threads()
+    if lingering_threads:
+        logger.debug(
+            f"Note: {len(lingering_threads)} Zenoh internal thread(s) still active. "
+            "These typically clean up after script exit."
+        )
+    return lingering_threads
+
+
+def get_active_zenoh_threads() -> list[str]:
+    """Get list of active Zenoh (pyo3) threads.
+
+    Returns:
+        List of thread names that are pyo3-related and still active.
+    """
+    return [
+        t.name
+        for t in threading.enumerate()
+        if "pyo3" in t.name and t.is_alive() and not t.daemon
+    ]
+
+
+# =============================================================================
+# Statistics and Analysis Functions
+# =============================================================================
+def compute_ntp_stats(offsets: list[float], rtts: list[float]) -> dict[str, float]:
+    """Compute NTP statistics, removing outliers based on RTT median and std.
+
+    Args:
+        offsets: List of offset values (seconds).
+        rtts: List of round-trip time values (seconds).
+
+    Returns:
+        Dictionary with computed statistics (mean, std, min, max, sample_count) for offset and rtt.
+    """
+    offsets_np = np.array(offsets)
+    rtts_np = np.array(rtts)
+    if len(rtts_np) < 3:
+        mask = np.ones_like(rtts_np, dtype=bool)
+    else:
+        median = np.median(rtts_np)
+        std = np.std(rtts_np)
+        mask = np.abs(rtts_np - median) <= 2 * std
+    offsets_filtered = offsets_np[mask]
+    rtts_filtered = rtts_np[mask]
+
+    def safe_stat(arr, func):
+        return float(func(arr)) if len(arr) > 0 else 0.0
+
+    stats = {
+        "offset (mean)": safe_stat(offsets_filtered, np.mean),
+        "offset (std)": safe_stat(offsets_filtered, np.std),
+        "offset (min)": safe_stat(offsets_filtered, np.min),
+        "offset (max)": safe_stat(offsets_filtered, np.max),
+        "round_trip_time (mean)": safe_stat(rtts_filtered, np.mean),
+        "round_trip_time (std)": safe_stat(rtts_filtered, np.std),
+        "round_trip_time (min)": safe_stat(rtts_filtered, np.min),
+        "round_trip_time (max)": safe_stat(rtts_filtered, np.max),
+        "sample_count": int(len(offsets_filtered)),
+    }
+    return stats

{dexcontrol-0.2.10.dist-info → dexcontrol-0.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dexcontrol
-Version: 0.2.10
+Version: 0.3.0
 Summary: A Python library of Sensing and Control for Dexmate's Robot
 Project-URL: Repository, https://github.com/dexmate-ai/dexcontrol
 Author-email: Dexmate <contact@dexmate.ai>
@@ -201,15 +201,17 @@ Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13
 Classifier: Typing :: Typed
 Requires-Python: <3.14,>=3.10
+Requires-Dist: aiortc
 Requires-Dist: eclipse-zenoh>=1.2.0
 Requires-Dist: hydra-core==1.3.2
 Requires-Dist: jaxtyping>=0.2.38
 Requires-Dist: loguru>=0.7.3
-Requires-Dist: numpy>=2.2.6
+Requires-Dist: numpy>=1.26.4
 Requires-Dist: opencv-python>=4.11.0
 Requires-Dist: protobuf>=6.31.0
 Requires-Dist: rich
 Requires-Dist: uvloop>=0.17.0; sys_platform != 'win32'
+Requires-Dist: websockets
 Provides-Extra: dev
 Requires-Dist: isort>=5.12.0; extra == 'dev'
 Requires-Dist: pre-commit; extra == 'dev'
@@ -251,6 +253,17 @@ To run the examples in this repo, you can try:
 pip install dexcontrol[example]
 ```
 
+## ⚠️ Version Compatibility
+
+**Important:** `dexcontrol >= 0.3.0` requires robot firmware with SoC version `286` or higher.
+
+**Before upgrading, check your current firmware version:**
+```shell
+dextop firmware info
+```
+
+If your firmware is outdated, please update it before installing the new version to ensure full compatibility. Please contact the Dexmate team if you do not know how to do it.
+
 ## 📄 Licensing
 
 This project is **dual-licensed**:

dexcontrol-0.3.0.dist-info/RECORD

@@ -0,0 +1,76 @@
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dexcontrol-0.2.10.dist-info/RECORD

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