dexcontrol 0.2.12__py3-none-any.whl → 0.3.1__py3-none-any.whl

dexcontrol/utils/zenoh_utils.py

@@ -1,122 +0,0 @@
-# Copyright (C) 2025 Dexmate Inc.
-#
-# This software is dual-licensed:
-#
-# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
-#    See LICENSE-AGPL for details
-#
-# 2. Commercial License
-#    For commercial licensing terms, contact: contact@dexmate.ai
-
-"""Zenoh utilities for dexcontrol.
-
-This module provides general utility functions for working with Zenoh
-communication framework.
-"""
-
-import json
-import time
-
-import numpy as np
-import zenoh
-from loguru import logger
-
-from dexcontrol.utils.os_utils import resolve_key_name
-
-
-def query_zenoh_json(
-    zenoh_session: zenoh.Session,
-    topic: str,
-    timeout: float = 2.0,
-    max_retries: int = 1,
-    retry_delay: float = 0.5,
-) -> dict | None:
-    """Query Zenoh for JSON information with retry logic.
-
-    Args:
-        zenoh_session: Active Zenoh session for communication.
-        topic: Zenoh topic to query.
-        timeout: Maximum time to wait for a response in seconds.
-        max_retries: Maximum number of retry attempts.
-        retry_delay: Initial delay between retries (doubles each retry).
-
-    Returns:
-        Dictionary containing the parsed JSON response if successful, None otherwise.
-    """
-    resolved_topic = resolve_key_name(topic)
-    logger.debug(f"Querying Zenoh topic: {resolved_topic}")
-
-    for attempt in range(max_retries + 1):
-        try:
-            # Add delay before retry (except first attempt)
-            if attempt > 0:
-                delay = retry_delay * (2 ** (attempt - 1))  # Exponential backoff
-                logger.debug(f"Retry {attempt}/{max_retries} after {delay}s delay...")
-                time.sleep(delay)
-
-            # Try to get the info
-            for reply in zenoh_session.get(resolved_topic, timeout=timeout):
-                if reply.ok:
-                    response = json.loads(reply.ok.payload.to_bytes())
-                    return response
-            else:
-                # No valid reply received
-                if attempt < max_retries:
-                    logger.debug(f"No reply on attempt {attempt + 1}, will retry...")
-                else:
-                    logger.error(
-                        f"No valid reply received on topic '{resolved_topic}' after {max_retries + 1} attempts."
-                    )
-
-        except StopIteration:
-            if attempt < max_retries:
-                logger.debug(f"Query timed out on attempt {attempt + 1}, will retry...")
-            else:
-                logger.error(f"Query timed out after {max_retries + 1} attempts.")
-        except Exception as e:
-            if attempt < max_retries:
-                logger.debug(
-                    f"Query failed on attempt {attempt + 1}: {e}, will retry..."
-                )
-            else:
-                logger.error(f"Query failed after {max_retries + 1} attempts: {e}")
-
-    return None
-
-
-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-0.2.12.dist-info/RECORD

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