dexcontrol 0.2.12__py3-none-any.whl → 0.3.0__py3-none-any.whl

dexcontrol/utils/os_utils.py

@@ -12,8 +12,11 @@
 
 import os
 import re
-from typing import Final
+from typing import Any, Final
 
+from loguru import logger
+
+import dexcontrol
 from dexcontrol.utils.constants import ROBOT_NAME_ENV_VAR
 
 
@@ -56,3 +59,182 @@ def get_robot_model() -> str:
         raise ValueError(f"Unknown robot model: {robot_model_abb}")
     model = robot_model_abb_mapping[robot_model_abb] + "-" + robot_name.split("-")[-1]
     return model
+
+
+def check_version_compatibility(
+    version_info: dict[str, Any], show_warnings: bool = True
+) -> None:
+    """Check version compatibility between client and server.
+
+    This function uses the new JSON-based version interface to:
+    1. Compare client library version with server's minimum required version
+    2. Check server component versions for compatibility
+    3. Provide clear guidance for version mismatches
+
+    Args:
+        version_info: Dictionary containing version information from get_version_info()
+        show_warnings: Whether to show warning messages (default: True)
+    """
+    validate_client_version(version_info)
+    validate_server_version(version_info)
+
+
+def validate_client_version(version_info: dict[str, Any]) -> None:
+    """Validate client library version against server requirements.
+
+    Args:
+        version_info: Dictionary containing server and client version information.
+    """
+
+    client_info = version_info.get("client", {})
+    min_required_version = client_info.get("minimal_version")
+
+    if not min_required_version:
+        logger.debug("No minimum version requirement from server")
+        return
+
+    # Get current library version
+    current_version = getattr(dexcontrol, "__version__", "unknown")
+
+    if current_version == "unknown":
+        logger.warning("Could not determine current library version")
+        return
+
+    # Compare versions
+    comparison = compare_versions(current_version, min_required_version)
+
+    if comparison < 0:
+        show_version_upgrade_warning(current_version, min_required_version)
+
+
+def show_version_upgrade_warning(current: str, required: str) -> None:
+    """Display version upgrade warning to user.
+
+    Args:
+        current: Current library version
+        required: Required minimum version
+    """
+    logger.error(
+        f"🚨 CLIENT VERSION TOO OLD! 🚨\n"
+        f"Current library version: {current}\n"
+        f"Minimum required version: {required}\n"
+        f"\n"
+        f"⚠️  Your dexcontrol library is outdated and may not work correctly!\n"
+        f"📦 Please update your library using: pip install --upgrade dexcontrol\n"
+    )
+
+
+def validate_server_version(version_info: dict[str, Any]) -> None:
+    """Validate server software versions against minimum requirements.
+
+    Args:
+        version_info: Dictionary containing server and client version information.
+    """
+    server_info = version_info.get("server", {})
+
+    if not server_info:
+        logger.debug("No server version information available")
+        return
+
+    # Check each component's software version
+    components_below_min = []
+    for component_name, component_info in server_info.items():
+        if isinstance(component_info, dict):
+            software_version = component_info.get("software_version")
+            if software_version is not None:
+                try:
+                    # Convert to int if it's a string
+                    software_version_int = int(software_version)
+                    if software_version_int < dexcontrol.MIN_SOC_SOFTWARE_VERSION:
+                        components_below_min.append(
+                            (component_name, software_version_int)
+                        )
+                except (ValueError, TypeError) as e:
+                    logger.debug(
+                        f"Could not parse software version for {component_name}: {e}"
+                    )
+
+    # If any components are below minimum version, show warning
+    if components_below_min:
+        show_server_version_warning(
+            components_below_min, dexcontrol.MIN_SOC_SOFTWARE_VERSION
+        )
+
+
+def show_server_version_warning(
+    components: list[tuple[str, int]], min_version: int
+) -> None:
+    """Display server version warning to user.
+
+    Args:
+        components: List of (component_name, version) tuples for components below minimum.
+        min_version: Minimum required server software version.
+    """
+    components_str = "\n".join(
+        f"  - {name}: version {version}" for name, version in components
+    )
+
+    logger.error(
+        f"🚨 SERVER VERSION TOO OLD! 🚨\n"
+        f"The following server components are below minimum version {min_version}:\n"
+        f"{components_str}\n"
+        f"\n"
+        f"⚠️  Your robot's firmware may be outdated and some features may not work correctly!\n"
+        f"📦 Please contact your robot admin or check https://github.com/dexmate-ai/vega-firmware.\n"
+    )
+
+
+def compare_versions(version1: str, version2: str) -> int:
+    """Compare two semantic version strings.
+
+    Args:
+        version1: First version string (e.g., "1.2.3")
+        version2: Second version string (e.g., "1.1.0")
+
+    Returns:
+        -1 if version1 < version2
+         0 if version1 == version2
+         1 if version1 > version2
+    """
+    try:
+        # Clean version strings (remove 'v' prefix, handle pre-release suffixes)
+        def clean_version(v: str) -> list[int]:
+            v = v.strip().lower()
+            if v.startswith("v"):
+                v = v[1:]
+            # Split by dots and take only numeric parts
+            parts = v.split(".")
+            numeric_parts = []
+            for part in parts:
+                # Remove any non-numeric suffixes (like -alpha, -rc1, etc.)
+                numeric_part = ""
+                for char in part:
+                    if char.isdigit():
+                        numeric_part += char
+                    else:
+                        break
+                if numeric_part:
+                    numeric_parts.append(int(numeric_part))
+            return numeric_parts
+
+        parts1 = clean_version(version1)
+        parts2 = clean_version(version2)
+
+        # Pad shorter version with zeros
+        max_len = max(len(parts1), len(parts2))
+        parts1.extend([0] * (max_len - len(parts1)))
+        parts2.extend([0] * (max_len - len(parts2)))
+
+        # Compare part by part
+        for p1, p2 in zip(parts1, parts2):
+            if p1 < p2:
+                return -1
+            elif p1 > p2:
+                return 1
+
+        return 0
+
+    except Exception as e:
+        logger.debug(f"Version comparison error: {e}")
+        # Fallback to string comparison
+        return -1 if version1 < version2 else (1 if version1 > version2 else 0)

dexcontrol/utils/pb_utils.py

@@ -20,28 +20,6 @@ TYPE_SOFTWARE_VERSION = dict[
 ]
 
 
-def software_version_to_dict(
-    version_msg: dexcontrol_query_pb2.SoftwareVersion,
-) -> dict[str, TYPE_SOFTWARE_VERSION]:
-    """Convert a SoftwareVersion protobuf message to a dictionary.
-
-    Args:
-        version_msg: SoftwareVersion protobuf message.
-
-    Returns:
-        Dictionary containing version information with component names as keys.
-    """
-    return {
-        key: {
-            "hardware_version": value.hardware_version,
-            "software_version": value.software_version,
-            "main_hash": value.main_hash,
-            "compile_time": value.compile_time,
-        }
-        for key, value in version_msg.firmware_version.items()
-    }
-
-
 class ComponentStatus(Enum):
     """Enum representing the status of a component."""
 

dexcontrol/utils/zenoh_utils.py

@@ -10,20 +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,
@@ -84,6 +222,115 @@ def query_zenoh_json(
     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.
 

{dexcontrol-0.2.12.dist-info → dexcontrol-0.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dexcontrol
-Version: 0.2.12
+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>
@@ -253,6 +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-0.2.12.dist-info → dexcontrol-0.3.0.dist-info}/RECORD

@@ -1,12 +1,12 @@
-dexcontrol/__init__.py,sha256=9y7PGcWv9KYcLg7nH54FQv2vv0Q_GeVy3wcFa4Yf_gs,1692
-dexcontrol/robot.py,sha256=Ab-9HhfPiqKq4gGNoBUUMKqYsjPK4u9KW2ykPlbKe4A,51914
+dexcontrol/__init__.py,sha256=Cr2LZw5hPGiwC-Uz7VYgVdLN6AsEmCwTRu_eyKRXrec,1746
+dexcontrol/robot.py,sha256=zvUVgc9hfYrxxD9qsUzEtdAVc59RdE74-yBwUjoy2xw,41385
 dexcontrol/apps/dualsense_teleop_base.py,sha256=Dw1z-2HA5D7DPKutZxlOdXsN9vpk4gS6XzJsL5ZQLM0,12702
 dexcontrol/config/__init__.py,sha256=UVLNpzGD14e8g68rUZFXTh0B7FRx6uS0Eg_MecjinYM,520
-dexcontrol/config/vega.py,sha256=UE5XAdk5IpYj-LgLUzbAvr6Zi83e4XYPAvXdgM9z3VY,8239
+dexcontrol/config/vega.py,sha256=Uh14vBOZoMAmFXQgjh-IK9x_W0j8YvqgUsoDNHx1ZsE,8443
 dexcontrol/config/core/__init__.py,sha256=Ym2R1hr1iMKQuXcg16BpZfQtTb0hQ5Q7smUIMlwKfho,637
 dexcontrol/config/core/arm.py,sha256=5hN1dQMe2H6oufaqgtZqx9vuB969DxM26leJqPsKEiA,1471
-dexcontrol/config/core/chassis.py,sha256=163hO4lVVaW7r9dvNleH0cdDds_GfO15EepnjloeT9U,868
-dexcontrol/config/core/hand.py,sha256=bGRO-_usaFP0GU6jgB6Lm3Z07DMqMVO_tiB5j4c8Cu4,954
+dexcontrol/config/core/chassis.py,sha256=2FjyFujg2q7aw8J9BklNM7eeLxscY9BSTlBvz-tLwOM,1092
+dexcontrol/config/core/hand.py,sha256=r6XVyGCuwv7MFmaMLn7l3iPZUH376NZSmtsfLnznAgw,1033
 dexcontrol/config/core/head.py,sha256=SLwZE-lYEOk8XAmW-Ex7VkLF2w5HLItwsA3Dc7n5FtE,1061
 dexcontrol/config/core/misc.py,sha256=zHkJ144b6kbmMFE63wy_fgfo_6V-4XmM19hr6BUtQ0Y,1567
 dexcontrol/config/core/torso.py,sha256=DCTFgN1_Gn4THkKy23sIHOedACQtQ7cET3g4AmkVPco,1460
@@ -24,17 +24,18 @@ dexcontrol/config/sensors/lidar/rplidar.py,sha256=ybuT_f1ADWF3oGH1gi6D2F80TbJEm4
 dexcontrol/config/sensors/ultrasonic/__init__.py,sha256=-q83RhIMZJGVFVPYaA4hOugoG6wZw8EL6wJg7-HTSxU,294
 dexcontrol/config/sensors/ultrasonic/ultrasonic.py,sha256=7b4dm1QOhy5_5RFVpY-frXZyDzqok0K1u7ed9gf3PL0,552
 dexcontrol/core/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
-dexcontrol/core/arm.py,sha256=wbRm7G4v3ByVwscZ9rEu_IpmBdqZoI6gKXDphDeNN5Q,15360
-dexcontrol/core/chassis.py,sha256=tB-tsx6MjKJDOtQxBf7PIX0L1JwgnsXUzmNPC1VKsQU,23165
-dexcontrol/core/component.py,sha256=mkYH7W7tWIWnfWfXmCUQulzaZ7VfrwYI0ET_L7pPw2k,34779
-dexcontrol/core/hand.py,sha256=wd__YB5wcM-LlksEm3PatXhy665zLnu9nV_9x85WxIA,8649
-dexcontrol/core/head.py,sha256=iz9umFxiizYzK49BdML1i6pKM_i8kbk44tH0uu_TaVM,10512
-dexcontrol/core/misc.py,sha256=0YNJCrTJS1yCT9N-p9us5I7uSiAK470k8nWgJu638X4,25153
-dexcontrol/core/torso.py,sha256=4MB5EojHnlBpUaHzcZOh4IkKcjI6pSluXmpb5RpmdV4,8932
-dexcontrol/proto/dexcontrol_msg_pb2.py,sha256=YgPlHnOZbVfCuTdfK1DD0t4yf6qeDf-ximl4qY5YeWo,6397
-dexcontrol/proto/dexcontrol_msg_pb2.pyi,sha256=5sI3nH1hhLPAg_UpNk5Mgh5bt5YrzcoPj1tCL6bT45s,10865
-dexcontrol/proto/dexcontrol_query_pb2.py,sha256=n5EazrveRw2UXFM-J5n5c7NVfr8LzaPigmOns4UOI9k,5946
-dexcontrol/proto/dexcontrol_query_pb2.pyi,sha256=0Lr0wYPGHhhNeAK24JJ2A7bzZ7q-r5ssOI2_ZfoYzVk,7108
+dexcontrol/core/arm.py,sha256=7kBm5rTcw0K_GmIo22tJ1m03KS5ObYYp_qYjWXLI-z4,16132
+dexcontrol/core/chassis.py,sha256=9XSxu9dpLp027nlXVoU6C_My92f6RRsgKZIh1WwP2Y4,24693
+dexcontrol/core/component.py,sha256=i1T1AOUtzCWOymNkkIUaVAAqVu4CWrsZmaRUoI1V2BI,35713
+dexcontrol/core/hand.py,sha256=iu6aY5bZRi7reXaHpf2EyVaiAi5pUVxCojq-EOUwJiw,9644
+dexcontrol/core/head.py,sha256=NfulFdgCfLBoNn40fb3-Gw7y0OmSAEF4xVWC_3qYHfk,10543
+dexcontrol/core/misc.py,sha256=x7-Fxj_drCGP6deqWZG7MvuXWeRz_f59qSFg1lZJEaU,30406
+dexcontrol/core/robot_query_interface.py,sha256=c395oggoKsfAYAYOQipKBwW5gBCwFXRxqNYdwHY4ZSs,17113
+dexcontrol/core/torso.py,sha256=UlY1T8ENiHoiW9OWGRHfP6viOChg6kIuTNg9aNCioI4,8937
+dexcontrol/proto/dexcontrol_msg_pb2.py,sha256=pIbSlweIVSU3hN13kZxPycySU_OYXPoHRuDh7NIBXho,5289
+dexcontrol/proto/dexcontrol_msg_pb2.pyi,sha256=1KpTJnLq6KG2eijZ_vlFq1JsTPeCeLz1IdmoUhW6Tec,8722
+dexcontrol/proto/dexcontrol_query_pb2.py,sha256=KXPCAaKb2n55MBxmhIaFvAoqbS9XsKD6RdztGNe0occ,6230
+dexcontrol/proto/dexcontrol_query_pb2.pyi,sha256=CGwwceF5Ibt9U3R8x2e7GjVNv2GyuD5WM_nyN4YF2wQ,7822
 dexcontrol/sensors/__init__.py,sha256=3DtVBwX5E3RPPjfCh2elnqk6uIWB_ukIqPQgBPZ7w7g,1008
 dexcontrol/sensors/manager.py,sha256=Qsbs9zZ4TvJgyn8yuI85wOU6mqgBQEus_MYSXj7wA9w,7025
 dexcontrol/sensors/ultrasonic.py,sha256=WAHvHh64iQ0HfqVf-Oo0Rg8R32Cdk5d8k8kDSwa3Xrc,3258
@@ -52,14 +53,14 @@ dexcontrol/utils/constants.py,sha256=6SG5HoSo7V-DlWH7cdNaMJtZs05dWrqYWIuKpmXfdI0
 dexcontrol/utils/error_code.py,sha256=iy840qnWn9wv_nVqyEDP8-l2CuXlPH2xXXW0k-5cHKk,7321
 dexcontrol/utils/io_utils.py,sha256=4TYV33ufECo8fuQivrZR9vtSdwWYUiPvpAUSneEzOOs,850
 dexcontrol/utils/motion_utils.py,sha256=p4kXQm_YorISDC2crrpY0gwCVw_yQCPv-acxPUSfh8w,7172
-dexcontrol/utils/os_utils.py,sha256=CC2st_Pb0C5cWfCg-i1P5bgBx3ZBX4LWVUiBq63dNeo,1852
-dexcontrol/utils/pb_utils.py,sha256=_6nFLKwAtq56vYXMZ6YmHnMfL5SarD96MVEA-9cxXns,3178
+dexcontrol/utils/os_utils.py,sha256=63sMR6fbd1GgAn6GmmYbSvPfA5dNPRJ-8Yv9VwotRuI,8185
+dexcontrol/utils/pb_utils.py,sha256=zN4pMS9GV9OTj1TmhcWTaDmfmgttyIDFJEuOE5tbCS0,2508
 dexcontrol/utils/rate_limiter.py,sha256=wFNaJ1fh-GO6zItuksKd_DSxLA1esE71WAiNDLpGsU0,6176
 dexcontrol/utils/rtc_utils.py,sha256=o2F9puC7CdAPnqiVq2vzomFZ7hMHljwtAbp9UiLhxJY,4426
 dexcontrol/utils/timer.py,sha256=1sOYYEapbZ5aBqJwknClsxgjDx0FDRQuGEdcTGnYTCI,3948
 dexcontrol/utils/trajectory_utils.py,sha256=TURFb0DeDey0416z4L7AXiWcKJYsgg_bB5AE_JPSpXY,1879
 dexcontrol/utils/viz_utils.py,sha256=rKtZfu32-9D9CS4cSiil-oLub_MiKTJV6hURvJbKd0s,6295
-dexcontrol/utils/zenoh_utils.py,sha256=83BSwWM0RZQP5Zey4Py83P_QC-vuk1qyk2Ac5iuschA,4264
+dexcontrol/utils/zenoh_utils.py,sha256=JiwEmCHEDk-EWtoUjIGw-VgYu1mapUSR1S-OcD2R7Ro,13166
 dexcontrol/utils/subscribers/__init__.py,sha256=Sqa-PPElwdUKxdh9BbU5MSqnf_i7BFqANrzVUXYUNuQ,1380
 dexcontrol/utils/subscribers/base.py,sha256=t4zcps_kjFG1wj6WSrZ4HJg0Bxcdnu-C8NkVVupmNVg,9769
 dexcontrol/utils/subscribers/camera.py,sha256=0kaeoKjKCxRQ5iaKK3r_94xEaVxNDBAMd2ZHL6X1kWU,11201
@@ -69,7 +70,7 @@ dexcontrol/utils/subscribers/imu.py,sha256=Us4ZWzLfqujg16jvrNIoHcvUyxbRCv6mZlaAi
 dexcontrol/utils/subscribers/lidar.py,sha256=OlmORIf-dBO4LV4u6pWccoxh-nYTAtGlIfhjj-sG1F4,5691
 dexcontrol/utils/subscribers/protobuf.py,sha256=gtE2b9ZtR2UXftKA5nX7bvTLkj8AeXDYZMqe4B3t5BQ,3696
 dexcontrol/utils/subscribers/rtc.py,sha256=mxD-IIeQwluvq0_D63lQJJEXrJsIc6yxX7uD0PDh08k,11350
-dexcontrol-0.2.12.dist-info/METADATA,sha256=3O9vIN5nR0U_mpL2QAb7Enr_eRzUbSI3Zk49Vv_HFpI,36840
-dexcontrol-0.2.12.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-dexcontrol-0.2.12.dist-info/licenses/LICENSE,sha256=0J2KCMNNnW5WZPK5x8xUiCxApBf7h83693ggSJYiue0,31745
-dexcontrol-0.2.12.dist-info/RECORD,,
+dexcontrol-0.3.0.dist-info/METADATA,sha256=S7GeiNE2J1A3YutnF1x98mnAczFc_DqmLOo_3nnOHXo,37239
+dexcontrol-0.3.0.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+dexcontrol-0.3.0.dist-info/licenses/LICENSE,sha256=0J2KCMNNnW5WZPK5x8xUiCxApBf7h83693ggSJYiue0,31745
+dexcontrol-0.3.0.dist-info/RECORD,,