dexcontrol 0.2.7__py3-none-any.whl → 0.2.12__py3-none-any.whl

dexcontrol/utils/viz_utils.py

@@ -10,13 +10,14 @@
 
 """Utility functions for displaying information in a Rich table format."""
 
+from loguru import logger
 from rich.console import Console
 from rich.table import Table
 
 from dexcontrol.utils.pb_utils import TYPE_SOFTWARE_VERSION
 
 
-def show_software_version(version_info: dict[str, TYPE_SOFTWARE_VERSION]) -> None:
+def show_software_version(version_info: dict[str, TYPE_SOFTWARE_VERSION]):
     """Create a Rich table for displaying firmware version information.
 
     Args:
@@ -42,25 +43,26 @@ def show_software_version(version_info: dict[str, TYPE_SOFTWARE_VERSION]) -> Non
     console.print(table)
 
 
-def show_component_status(status_info: dict[str, dict]) -> None:
+def show_component_status(status_info: dict[str, dict]):
     """Create a Rich table for displaying component status information.
 
     Args:
         status_info: Dictionary containing status info for each component.
     """
+    from dexcontrol.utils.error_code import get_error_description
     from dexcontrol.utils.pb_utils import ComponentStatus
 
     table = Table(title="Component Status")
     table.add_column("Component", style="cyan")
     table.add_column("Connected", justify="center")
     table.add_column("Enabled", justify="center")
-    table.add_column("Error", justify="center")
+    table.add_column("Error", justify="left")
 
     status_icons = {
-        True: ":white_check_mark:",
-        False: ":x:",
-        ComponentStatus.NORMAL: ":white_check_mark:",
-        ComponentStatus.NA: "N/A",
+        True: "[green]:white_check_mark:[/green]",
+        False: "[red]:x:[/red]",
+        ComponentStatus.NORMAL: "[green]:white_check_mark:[/green]",
+        ComponentStatus.NA: "[dim]N/A[/dim]",
     }
 
     # Sort components by name to ensure consistent order
@@ -70,15 +72,51 @@ def show_component_status(status_info: dict[str, dict]) -> None:
         connected = status_icons[status["connected"]]
 
         # Format enabled status
-        enabled = status_icons.get(status["enabled"], ":x:")
+        enabled = status_icons.get(status["enabled"], "[red]:x:[/red]")
 
         # Format error status
         if status["error_state"] == ComponentStatus.NORMAL:
-            error = ":white_check_mark:"
+            error = "[green]:white_check_mark:[/green]"
         elif status["error_state"] == ComponentStatus.NA:
-            error = "N/A"
+            error = "[dim]N/A[/dim]"
         else:
-            error = status["error_code"]
+            # Convert error code to human-readable text
+            error_code = status["error_code"]
+            if isinstance(error_code, int):
+                error_desc = get_error_description(component, error_code)
+                # Show both raw code and description with formatting
+                if error_code == 0:
+                    error = "[green]:white_check_mark:[/green]"
+                else:
+                    # Check if this is an unknown error
+                    if "Unknown" in error_desc:
+                        # For unknown errors, show the hex code prominently
+                        error = f"[bold red]:warning: 0x{error_code:08X}[/bold red]\n[dim italic]Unknown error code[/dim italic]"
+                    else:
+                        # For known errors, show both code and description
+                        error = f"[bold red]:warning: 0x{error_code:08X}[/bold red]\n[yellow]{error_desc}[/yellow]"
+            else:
+                # Handle hex string format if provided
+                try:
+                    error_code_int = (
+                        int(error_code, 16)
+                        if isinstance(error_code, str)
+                        else error_code
+                    )
+                    error_desc = get_error_description(component, error_code_int)
+                    # Show both raw code and description with formatting
+                    if error_code_int == 0:
+                        error = "[green]:white_check_mark:[/green]"
+                    else:
+                        # Check if this is an unknown error
+                        if "Unknown" in error_desc:
+                            # For unknown errors, show the hex code prominently
+                            error = f"[bold red]:warning: 0x{error_code_int:08X}[/bold red]\n[dim italic]Unknown error code[/dim italic]"
+                        else:
+                            # For known errors, show both code and description
+                            error = f"[bold red]:warning: 0x{error_code_int:08X}[/bold red]\n[yellow]{error_desc}[/yellow]"
+                except (ValueError, TypeError):
+                    error = f"[red]{str(error_code)}[/red]"
 
         table.add_row(
             component,
@@ -89,3 +127,40 @@ def show_component_status(status_info: dict[str, dict]) -> None:
 
     console = Console()
     console.print(table)
+
+
+def show_ntp_stats(stats: dict[str, float]):
+    """Display NTP statistics in a Rich table format.
+
+    Args:
+        stats: Dictionary containing NTP statistics (e.g., mean_offset, mean_rtt, etc.).
+    """
+    table = Table()
+    table.add_column("Time Statistic", style="cyan")
+    table.add_column("Value (Unit: second)", justify="right")
+
+    for key, value in stats.items():
+        # Format floats to 6 decimal places, lists as comma-separated, others as str
+        if isinstance(value, float):
+            value_str = f"{value:.6f}"
+        elif isinstance(value, list):
+            value_str = ", ".join(
+                f"{v:.6f}" if isinstance(v, float) else str(v) for v in value
+            )
+        else:
+            value_str = str(value)
+        table.add_row(key, value_str)
+
+    console = Console()
+    console.print(table)
+
+    if "offset (mean)" in stats:
+        offset = stats["offset (mean)"]
+        if offset > 0:
+            logger.info(
+                f"To synchronize: server_time ≈ local_time + {offset:.3f} second"
+            )
+        else:
+            logger.info(
+                f"To synchronize: server_time ≈ local_time - {abs(offset):.3f} second"
+            )

dexcontrol/utils/zenoh_utils.py

@@ -17,6 +17,7 @@ communication framework.
 import json
 import time
 
+import numpy as np
 import zenoh
 from loguru import logger
 
@@ -81,3 +82,41 @@ def query_zenoh_json(
                 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-0.2.7.dist-info → dexcontrol-0.2.12.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dexcontrol
-Version: 0.2.7
+Version: 0.2.12
 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>
@@ -200,16 +200,18 @@ Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13
 Classifier: Typing :: Typed
-Requires-Python: <3.13,>=3.10
+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'
@@ -225,7 +227,7 @@ Requires-Dist: sphinx-autodoc-typehints>=1.24.0; extra == 'docs'
 Requires-Dist: sphinx-rtd-theme>=1.3.0; extra == 'docs'
 Requires-Dist: sphinx>=7.0.0; extra == 'docs'
 Provides-Extra: example
-Requires-Dist: dexmotion>=0.2.0; extra == 'example'
+Requires-Dist: dexmotion>=0.2.1; extra == 'example'
 Requires-Dist: dualsense-controller>=0.3.1; extra == 'example'
 Requires-Dist: matplotlib>=3.8.0; extra == 'example'
 Requires-Dist: pytransform3d==3.13.0; extra == 'example'

dexcontrol-0.2.12.dist-info/RECORD

@@ -0,0 +1,75 @@
+dexcontrol/__init__.py,sha256=9y7PGcWv9KYcLg7nH54FQv2vv0Q_GeVy3wcFa4Yf_gs,1692
+dexcontrol/robot.py,sha256=Ab-9HhfPiqKq4gGNoBUUMKqYsjPK4u9KW2ykPlbKe4A,51914
+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/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/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
+dexcontrol/config/sensors/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
+dexcontrol/config/sensors/vega_sensors.py,sha256=VTC8OPLEhBmnQpWdbPTOAr1JGeKOEekLc1Vew62yVtk,2969
+dexcontrol/config/sensors/cameras/__init__.py,sha256=UcY9soHfHTEZL4VX705yH7RM6jWf3Mqd8MWJMp59big,454
+dexcontrol/config/sensors/cameras/luxonis_camera.py,sha256=e3I5jiIbyAK2HjM8E0VRUOdYODTMjaA_zRH7Du9D8qI,1648
+dexcontrol/config/sensors/cameras/rgb_camera.py,sha256=MN4SjyZlfbrQ3JKDDkT8HhC0Aiyc0bWfDLt4ik0Xcvs,1448
+dexcontrol/config/sensors/cameras/zed_camera.py,sha256=cPXR84m2P3P2-qls1usHCbR6iz-l9gaBjjXyDmTXoiE,1836
+dexcontrol/config/sensors/imu/__init__.py,sha256=fW-DlevCvf_W8HV_fvLe9yIe-XL5op2mggoTKh-6fGQ,328
+dexcontrol/config/sensors/imu/chassis_imu.py,sha256=3OlTTBH6k1QGM5c5bcg8NL3XUXzYA8gCLM8lpCq2KFM,559
+dexcontrol/config/sensors/imu/zed_imu.py,sha256=y-dPI-XS6Kyq0WOf0wwuc2BgVnMN2hwCMxb0Vmwt4O4,550
+dexcontrol/config/sensors/lidar/__init__.py,sha256=j8vFkF675Z7zKtCztJcyG7oSA_XqrD8OeQLEK0GACug,288
+dexcontrol/config/sensors/lidar/rplidar.py,sha256=ybuT_f1ADWF3oGH1gi6D2F80TbJEm4vbm68Fe108OAA,541
+dexcontrol/config/sensors/ultrasonic/__init__.py,sha256=-q83RhIMZJGVFVPYaA4hOugoG6wZw8EL6wJg7-HTSxU,294
+dexcontrol/config/sensors/ultrasonic/ultrasonic.py,sha256=7b4dm1QOhy5_5RFVpY-frXZyDzqok0K1u7ed9gf3PL0,552
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+dexcontrol/core/component.py,sha256=mkYH7W7tWIWnfWfXmCUQulzaZ7VfrwYI0ET_L7pPw2k,34779
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+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
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+dexcontrol/sensors/manager.py,sha256=Qsbs9zZ4TvJgyn8yuI85wOU6mqgBQEus_MYSXj7wA9w,7025
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+dexcontrol/sensors/camera/__init__.py,sha256=w7-w58fAsV57lSb4ANC8tn8YbY5o1GVymw3p2agNJEE,684
+dexcontrol/sensors/camera/luxonis_camera.py,sha256=OeKoX7JL2ogbNJa7JPYkPT4LHKg8Wby5PPtoMQcFo8c,6307
+dexcontrol/sensors/camera/rgb_camera.py,sha256=UaEk8aszHeBRg5xMQlHxZk2KMP7wU3m6UnE_qgh6V4Q,5892
+dexcontrol/sensors/camera/zed_camera.py,sha256=hrnTrON0WieCkJ7i2pvO6nUjHOD_N8po9arl9jbqtuQ,15501
+dexcontrol/sensors/imu/__init__.py,sha256=bBC7_NSLJ5qLMvUYu2-9yXKO2bRpQLC0HyywBwnbM0A,768
+dexcontrol/sensors/imu/chassis_imu.py,sha256=a_PMH2I2UVHZ2xIqGac2M4xFIDgiUopjUOjD87xNFL0,5058
+dexcontrol/sensors/imu/zed_imu.py,sha256=kNXdOq0STucWG5Vvy6AWL3Hs4JZB6dxtfhCsjEWnRGY,5251
+dexcontrol/sensors/lidar/__init__.py,sha256=frF16HmeQnfbvH0dVJ4pPjD4TySF13wCk-O9L3Memeg,317
+dexcontrol/sensors/lidar/rplidar.py,sha256=HpPeO2lqGDGGrnR3j4rZ6suw_pc07Rhsfti9GCCi-1M,4499
+dexcontrol/utils/__init__.py,sha256=ayMZ6xNlA9xKfS_XRr8bWcoXW4-8Jg_25XSbMd5Jx58,468
+dexcontrol/utils/constants.py,sha256=6SG5HoSo7V-DlWH7cdNaMJtZs05dWrqYWIuKpmXfdI0,792
+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/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/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
+dexcontrol/utils/subscribers/decoders.py,sha256=X39NY7zNEUlOaG0b1Eooc1T7U5SCQ3rZ2ddaz12fi0o,2134
+dexcontrol/utils/subscribers/generic.py,sha256=EKRutiu2zJBfzNIHCfYEfkcGE6QQTJmkOEMRRvEXJXA,3704
+dexcontrol/utils/subscribers/imu.py,sha256=Us4ZWzLfqujg16jvrNIoHcvUyxbRCv6mZlaAizvX6uo,5925
+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-0.2.7.dist-info/RECORD

@@ -1,72 +0,0 @@
-dexcontrol/__init__.py,sha256=1UGkcmMHphLJM7MYIfSuWfSameV1XLBDVjEazl5hb1I,1656
-dexcontrol/robot.py,sha256=Kyp8VXcDM6PORlvWBQqH4JR-4Uu6ttn652gNX7t5fg8,41686
-dexcontrol/apps/dualsense_teleop_base.py,sha256=Dw1z-2HA5D7DPKutZxlOdXsN9vpk4gS6XzJsL5ZQLM0,12702
-dexcontrol/config/__init__.py,sha256=UVLNpzGD14e8g68rUZFXTh0B7FRx6uS0Eg_MecjinYM,520
-dexcontrol/config/vega.py,sha256=4RrP0V5bmH0OUM3V0gND6cpRuMqoziLTQdKiRey1_ag,7192
-dexcontrol/config/core/__init__.py,sha256=Ym2R1hr1iMKQuXcg16BpZfQtTb0hQ5Q7smUIMlwKfho,637
-dexcontrol/config/core/arm.py,sha256=bRemtNO_eQVUgcojw1ItwWiqOZVOaaIq72G5-QqFu-I,1183
-dexcontrol/config/core/chassis.py,sha256=163hO4lVVaW7r9dvNleH0cdDds_GfO15EepnjloeT9U,868
-dexcontrol/config/core/hand.py,sha256=MONnh9rUmfDqUl3NMoJ6rOy8hZKvD5iv1egkYdIl1pQ,1272
-dexcontrol/config/core/head.py,sha256=1eqsDPGBG8r8MocJwUMnDAQnOD152sl7P2k6Lg_ZKOA,1124
-dexcontrol/config/core/misc.py,sha256=KQstrVKFL-vdoaHVdj-VGwMrrhzm4pVz2g4A2etnav4,1169
-dexcontrol/config/core/torso.py,sha256=6B_-8LhT4rJ4K_oF9sjroOwIIj_JwlNS2JC8LmCCrSA,1456
-dexcontrol/config/sensors/__init__.py,sha256=bYPMLxbbn5QeuPyA6OPGDS2JTYpnVvaZJT8PeILFjQY,252
-dexcontrol/config/sensors/vega_sensors.py,sha256=oQrJcder-kcGujON5mwmThSgnBeIclq7OVWQ5lbwj1E,2581
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