dexcontrol 0.3.0__py3-none-any.whl → 0.3.2__py3-none-any.whl

dexcontrol/utils/subscribers/base.py

@@ -1,281 +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
-
-"""Base Zenoh subscriber utilities.
-
-This module provides the abstract base class for all Zenoh subscribers
-and common utilities used across different subscriber implementations.
-"""
-
-import threading
-import time
-from abc import ABC, abstractmethod
-from collections.abc import Callable
-from typing import Any, Final, TypeVar
-
-import zenoh
-from google.protobuf.message import Message
-from loguru import logger
-
-from dexcontrol.utils.os_utils import resolve_key_name
-
-# Type variable for Message subclasses
-M = TypeVar("M", bound=Message)
-
-# Type alias for custom data handler functions
-CustomDataHandler = Callable[[zenoh.Sample], None]
-
-
-class BaseZenohSubscriber(ABC):
-    """Base class for Zenoh subscribers with configurable data handling.
-
-    This class provides a common interface for subscribing to Zenoh topics
-    and processing incoming data through configurable decoder functions.
-    It handles the Zenoh communication setup and provides thread-safe access
-    to the latest data.
-
-    Attributes:
-        _active: Whether subscriber is receiving data updates.
-        _data_lock: Lock for thread-safe data access.
-        _zenoh_session: Active Zenoh session for communication.
-        _subscriber: Zenoh subscriber for data.
-        _topic: The resolved Zenoh topic name.
-        _enable_fps_tracking: Whether to track and log FPS metrics.
-        _frame_count: Counter for frames processed since last FPS calculation.
-        _fps: Most recently calculated frames per second value.
-        _last_fps_time: Timestamp of last FPS calculation.
-        _fps_log_interval: Number of frames between FPS calculations.
-        _name: Name for logging purposes.
-        _custom_data_handler: Optional custom data handler function.
-        _last_data_time: Timestamp of last data received.
-    """
-
-    def __init__(
-        self,
-        topic: str,
-        zenoh_session: zenoh.Session,
-        name: str = "subscriber",
-        enable_fps_tracking: bool = False,
-        fps_log_interval: int = 100,
-        custom_data_handler: CustomDataHandler | None = None,
-    ) -> None:
-        """Initialize the base Zenoh subscriber.
-
-        Args:
-            topic: Zenoh topic to subscribe to for data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for logging purposes.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-            fps_log_interval: Number of frames between FPS calculations.
-            custom_data_handler: Optional custom function to handle incoming data.
-                                If provided, this will replace the default data
-                                handling logic entirely.
-        """
-        self._active: bool = False
-        self._data_lock: Final[threading.RLock] = threading.RLock()
-        self._zenoh_session: Final[zenoh.Session] = zenoh_session
-        self._name = name
-        self._custom_data_handler = custom_data_handler
-
-        # Data freshness tracking
-        self._last_data_time: float | None = None
-
-        # FPS tracking
-        self._enable_fps_tracking = enable_fps_tracking
-        self._fps_log_interval = fps_log_interval
-        self._frame_count = 0
-        self._fps = 0.0
-        self._last_fps_time = time.time()
-
-        # Setup Zenoh subscriber
-        self._topic: Final[str] = resolve_key_name(topic)
-        self._subscriber: Final[zenoh.Subscriber] = zenoh_session.declare_subscriber(
-            self._topic, self._data_handler_wrapper
-        )
-
-        logger.info(f"Initialized {self._name} subscriber for topic: {self._topic}")
-
-    def _data_handler_wrapper(self, sample: zenoh.Sample) -> None:
-        """Wrapper for data handling that calls either custom or default handler.
-
-        Args:
-            sample: Zenoh sample containing data.
-        """
-        # Update data freshness timestamp
-        with self._data_lock:
-            self._last_data_time = time.monotonic()
-
-        # Call custom data handler if provided, otherwise call default handler
-        if self._custom_data_handler is not None:
-            try:
-                self._custom_data_handler(sample)
-            except Exception as e:
-                logger.error(f"Custom data handler failed for {self._name}: {e}")
-        else:
-            # Call the default data handler
-            self._data_handler(sample)
-
-    @abstractmethod
-    def _data_handler(self, sample: zenoh.Sample) -> None:
-        """Handle incoming data.
-
-        This method must be implemented by subclasses to process the specific
-        type of data they handle.
-
-        Args:
-            sample: Zenoh sample containing data.
-        """
-        pass
-
-    @abstractmethod
-    def get_latest_data(self) -> Any | None:
-        """Get the latest data.
-
-        Returns:
-            Latest data if available, None otherwise.
-        """
-        pass
-
-    def _update_fps_metrics(self) -> None:
-        """Update FPS tracking metrics.
-
-        Increments frame counter and recalculates FPS at specified intervals.
-        Only has an effect if fps_tracking was enabled during initialization.
-        """
-        if not self._enable_fps_tracking:
-            return
-
-        self._frame_count += 1
-        if self._frame_count >= self._fps_log_interval:
-            current_time = time.time()
-            elapsed = current_time - self._last_fps_time
-            self._fps = self._frame_count / elapsed
-            logger.info(f"{self._name} {self._topic} frequency: {self._fps:.2f} Hz")
-            self._frame_count = 0
-            self._last_fps_time = current_time
-
-    def wait_for_active(self, timeout: float = 5.0) -> bool:
-        """Wait for the subscriber to start receiving data.
-
-        Args:
-            timeout: Maximum time to wait in seconds.
-
-        Returns:
-            True if subscriber becomes active, False if timeout is reached.
-        """
-        start_time = time.monotonic()
-        check_interval = min(0.05, timeout / 10)  # Check every 10ms or less
-
-        while True:
-            with self._data_lock:
-                if self._active:
-                    return True
-
-            elapsed = time.monotonic() - start_time
-            if elapsed >= timeout:
-                logger.error(f"No data received from {self._topic} after {timeout}s")
-                return False
-
-            # Sleep for the shorter of: remaining time or check interval
-            sleep_time = min(check_interval, timeout - elapsed)
-            time.sleep(sleep_time)
-
-    def is_active(self) -> bool:
-        """Check if the subscriber is actively receiving data.
-
-        Returns:
-            True if subscriber is active, False otherwise.
-        """
-        with self._data_lock:
-            return self._active
-
-    def shutdown(self) -> None:
-        """Stop the subscriber and release resources."""
-        # Mark as inactive first to prevent further data processing
-        with self._data_lock:
-            self._active = False
-
-        # Small delay to allow any ongoing data processing to complete
-        time.sleep(0.05)
-
-        try:
-            if hasattr(self, "_subscriber") and self._subscriber:
-                self._subscriber.undeclare()
-        except Exception as e:
-            # Don't log "Undeclared subscriber" errors as warnings - they're expected during shutdown
-            error_msg = str(e).lower()
-            if not ("undeclared" in error_msg or "closed" in error_msg):
-                logger.warning(f"Error undeclaring subscriber for {self._topic}: {e}")
-
-        # Additional delay to allow Zenoh to process the undeclare operation
-        time.sleep(0.02)
-
-    @property
-    def topic(self) -> str:
-        """Get the Zenoh topic name.
-
-        Returns:
-            The resolved Zenoh topic name.
-        """
-        return self._topic
-
-    @property
-    def fps(self) -> float:
-        """Get the current FPS measurement.
-
-        Returns:
-            Current frames per second measurement.
-        """
-        return self._fps
-
-    @property
-    def name(self) -> str:
-        """Get the subscriber name.
-
-        Returns:
-            The subscriber name.
-        """
-        return self._name
-
-    def is_data_fresh(self, max_age_seconds: float) -> bool:
-        """Check if the most recent data is fresh (received within the specified time).
-
-        This method checks if data has been received within the specified time window,
-        regardless of whether the data content has changed. This is useful for
-        detecting communication failures or stale data streams.
-
-        Args:
-            max_age_seconds: Maximum age in seconds for data to be considered fresh.
-
-        Returns:
-            True if fresh data was received within the time window, False otherwise.
-            Returns False if no data has ever been received.
-        """
-        with self._data_lock:
-            if self._last_data_time is None:
-                return False
-
-            current_time = time.monotonic()
-            age = current_time - self._last_data_time
-            return age <= max_age_seconds
-
-    def get_time_since_last_data(self) -> float | None:
-        """Get the time elapsed since the last data was received.
-
-        Returns:
-            Time in seconds since last data was received, or None if no data
-            has ever been received.
-        """
-        with self._data_lock:
-            if self._last_data_time is None:
-                return None
-
-            current_time = time.monotonic()
-            return current_time - self._last_data_time

dexcontrol/utils/subscribers/camera.py

@@ -1,332 +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
-
-"""Camera Zenoh subscribers for RGB and depth data.
-
-This module provides specialized subscribers for camera data including RGB images
-and depth images, using the serialization formats from dexsensor.
-"""
-
-import numpy as np
-import zenoh
-from loguru import logger
-
-from .base import BaseZenohSubscriber, CustomDataHandler
-
-# Import camera serialization functions from dexsensor
-try:
-    from dexsensor.serialization.camera import decode_depth, decode_image
-except ImportError:
-    logger.error(
-        "Failed to import dexsensor camera serialization functions. Please install dexsensor."
-    )
-    decode_image = None
-    decode_depth = None
-
-
-class RGBCameraSubscriber(BaseZenohSubscriber):
-    """Zenoh subscriber for RGB camera data.
-
-    This subscriber handles RGB image data encoded using the dexsensor
-    camera serialization format with JPEG compression.
-    Uses lazy decoding - data is only decoded when requested.
-    """
-
-    def __init__(
-        self,
-        topic: str,
-        zenoh_session: zenoh.Session,
-        name: str = "rgb_camera_subscriber",
-        enable_fps_tracking: bool = True,
-        fps_log_interval: int = 30,
-        custom_data_handler: CustomDataHandler | None = None,
-    ) -> None:
-        """Initialize the RGB camera subscriber.
-
-        Args:
-            topic: Zenoh topic to subscribe to for RGB data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for logging purposes.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-            fps_log_interval: Number of frames between FPS calculations.
-            custom_data_handler: Optional custom function to handle incoming data.
-                                If provided, this will replace the default data
-                                handling logic entirely.
-        """
-        super().__init__(
-            topic,
-            zenoh_session,
-            name,
-            enable_fps_tracking,
-            fps_log_interval,
-            custom_data_handler,
-        )
-        self._latest_raw_data: bytes | None = None
-
-    def _data_handler(self, sample: zenoh.Sample) -> None:
-        """Handle incoming RGB image data.
-
-        Args:
-            sample: Zenoh sample containing encoded RGB image data.
-        """
-        with self._data_lock:
-            self._latest_raw_data = sample.payload.to_bytes()
-            self._active = True
-
-        self._update_fps_metrics()
-
-    def get_latest_data(self) -> np.ndarray | None:
-        """Get the latest RGB image.
-
-        Returns:
-            Latest RGB image as numpy array (HxWxC) if available, None otherwise.
-        """
-        with self._data_lock:
-            if self._latest_raw_data is None:
-                return None
-
-            if decode_image is None:
-                logger.error(
-                    f"Cannot decode RGB image for {self._name}: dexsensor not available"
-                )
-                return None
-
-            try:
-                # Decode the image, which is typically in BGR format
-                image = decode_image(self._latest_raw_data)
-                return image
-            except Exception as e:
-                logger.error(f"Failed to decode RGB image for {self._name}: {e}")
-                return None
-
-    def get_latest_image(self) -> np.ndarray | None:
-        """Get the latest RGB image.
-
-        Alias for get_latest_data() for clarity.
-
-        Returns:
-            Latest RGB image as numpy array (HxWxC) if available, None otherwise.
-        """
-        return self.get_latest_data()
-
-
-class DepthCameraSubscriber(BaseZenohSubscriber):
-    """Zenoh subscriber for depth camera data.
-
-    This subscriber handles depth image data encoded using the dexsensor
-    camera serialization format with compression.
-    Uses lazy decoding - data is only decoded when requested.
-    """
-
-    def __init__(
-        self,
-        topic: str,
-        zenoh_session: zenoh.Session,
-        name: str = "depth_camera_subscriber",
-        enable_fps_tracking: bool = True,
-        fps_log_interval: int = 30,
-        custom_data_handler: CustomDataHandler | None = None,
-    ) -> None:
-        """Initialize the depth camera subscriber.
-
-        Args:
-            topic: Zenoh topic to subscribe to for depth data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for logging purposes.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-            fps_log_interval: Number of frames between FPS calculations.
-            custom_data_handler: Optional custom function to handle incoming data.
-                                If provided, this will replace the default data
-                                handling logic entirely.
-        """
-        super().__init__(
-            topic,
-            zenoh_session,
-            name,
-            enable_fps_tracking,
-            fps_log_interval,
-            custom_data_handler,
-        )
-        self._latest_raw_data: bytes | None = None
-
-    def _data_handler(self, sample: zenoh.Sample) -> None:
-        """Handle incoming depth image data.
-
-        Args:
-            sample: Zenoh sample containing encoded depth image data.
-        """
-        with self._data_lock:
-            self._latest_raw_data = sample.payload.to_bytes()
-            self._active = True
-
-        self._update_fps_metrics()
-
-    def get_latest_data(self) -> np.ndarray | None:
-        """Get the latest depth data.
-
-        Returns:
-            depth_image if available, None otherwise. Depth values in meters as numpy array (HxW)
-        """
-        with self._data_lock:
-            if self._latest_raw_data is None:
-                return None
-
-            if decode_depth is None:
-                logger.error(
-                    f"Cannot decode depth image for {self._name}: dexsensor not available"
-                )
-                return None
-
-            try:
-                # Decode the depth image
-                depth = decode_depth(self._latest_raw_data)
-                return depth
-            except Exception as e:
-                logger.error(f"Failed to decode depth image for {self._name}: {e}")
-                return None
-
-
-class RGBDCameraSubscriber(BaseZenohSubscriber):
-    """Zenoh subscriber for RGBD camera data.
-
-    This subscriber handles both RGB and depth data from an RGBD camera,
-    subscribing to separate topics for RGB and depth streams.
-    """
-
-    def __init__(
-        self,
-        rgb_topic: str,
-        depth_topic: str,
-        zenoh_session: zenoh.Session,
-        name: str = "rgbd_camera_subscriber",
-        enable_fps_tracking: bool = True,
-        fps_log_interval: int = 30,
-        custom_data_handler: CustomDataHandler | None = None,
-    ) -> None:
-        """Initialize the RGBD camera subscriber.
-
-        Args:
-            rgb_topic: Zenoh topic for RGB data.
-            depth_topic: Zenoh topic for depth data.
-            zenoh_session: Active Zenoh session for communication.
-            name: Name for logging purposes.
-            enable_fps_tracking: Whether to track and log FPS metrics.
-            fps_log_interval: Number of frames between FPS calculations.
-            custom_data_handler: Optional custom function to handle incoming data.
-                                If provided, this will replace the default data
-                                handling logic entirely.
-        """
-        # Initialize with RGB topic as primary
-        super().__init__(
-            rgb_topic,
-            zenoh_session,
-            name,
-            enable_fps_tracking,
-            fps_log_interval,
-            custom_data_handler,
-        )
-
-        # Create separate subscribers for RGB and depth
-        self._rgb_subscriber = RGBCameraSubscriber(
-            rgb_topic,
-            zenoh_session,
-            f"{name}_rgb",
-            enable_fps_tracking,
-            fps_log_interval,
-            custom_data_handler,
-        )
-        self._depth_subscriber = DepthCameraSubscriber(
-            depth_topic,
-            zenoh_session,
-            f"{name}_depth",
-            enable_fps_tracking,
-            fps_log_interval,
-            custom_data_handler,
-        )
-
-    def _data_handler(self, sample: zenoh.Sample) -> None:
-        """Handle incoming data - not used as we use separate subscribers."""
-        pass
-
-    def get_latest_data(self) -> tuple[np.ndarray, np.ndarray] | None:
-        """Get the latest RGBD data.
-
-        Returns:
-            Tuple of (rgb_image, depth_image, depth_min, depth_max) if both available, None otherwise.
-            rgb_image: RGB image as numpy array (HxWxC)
-            depth_image: Depth values in meters as numpy array (HxW)
-        """
-        rgb_image = self._rgb_subscriber.get_latest_data()
-        depth_image = self._depth_subscriber.get_latest_data()
-
-        if rgb_image is not None and depth_image is not None:
-            return rgb_image, depth_image
-        return None
-
-    def get_latest_rgb(self) -> np.ndarray | None:
-        """Get the latest RGB image.
-
-        Returns:
-            Latest RGB image as numpy array (HxWxC) if available, None otherwise.
-        """
-        return self._rgb_subscriber.get_latest_image()
-
-    def get_latest_depth(self) -> np.ndarray | None:
-        """Get the latest depth image.
-
-        Returns:
-            Latest depth image as numpy array (HxW) with values in meters if available, None otherwise.
-        """
-        return self._depth_subscriber.get_latest_data()
-
-    def wait_for_active(self, timeout: float = 5.0) -> bool:
-        """Wait for both RGB and depth subscribers to start receiving data.
-
-        Args:
-            timeout: Maximum time to wait in seconds.
-
-        Returns:
-            True if both subscribers become active, False if timeout is reached.
-        """
-        rgb_active = self._rgb_subscriber.wait_for_active(timeout)
-        depth_active = self._depth_subscriber.wait_for_active(timeout)
-        return rgb_active and depth_active
-
-    def is_active(self) -> bool:
-        """Check if both RGB and depth subscribers are actively receiving data.
-
-        Returns:
-            True if both subscribers are active, False otherwise.
-        """
-        return self._rgb_subscriber.is_active() and self._depth_subscriber.is_active()
-
-    def shutdown(self) -> None:
-        """Stop both subscribers and release resources."""
-        self._rgb_subscriber.shutdown()
-        self._depth_subscriber.shutdown()
-        super().shutdown()
-
-    @property
-    def rgb_fps(self) -> float:
-        """Get the RGB stream FPS measurement.
-
-        Returns:
-            Current RGB frames per second measurement.
-        """
-        return self._rgb_subscriber.fps
-
-    @property
-    def depth_fps(self) -> float:
-        """Get the depth stream FPS measurement.
-
-        Returns:
-            Current depth frames per second measurement.
-        """
-        return self._depth_subscriber.fps

dexcontrol/utils/subscribers/decoders.py

@@ -1,88 +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
-
-"""Decoder functions for Zenoh subscribers.
-
-This module provides common decoder functions that can be used with the
-GenericZenohSubscriber to transform raw Zenoh bytes into specific data formats.
-"""
-
-import json
-from collections.abc import Callable
-from typing import Any, Type, TypeVar
-
-import zenoh
-from google.protobuf.message import Message
-
-M = TypeVar("M", bound=Message)
-
-# Type alias for decoder functions
-DecoderFunction = Callable[[zenoh.ZBytes], Any]
-
-
-def protobuf_decoder(message_type: Type[M]) -> DecoderFunction:
-    """Create a decoder function for a specific protobuf message type.
-
-    Args:
-        message_type: Protobuf message class to decode to.
-
-    Returns:
-        Decoder function that parses bytes into the specified protobuf message.
-    """
-
-    def decode(data: zenoh.ZBytes) -> M:
-        message = message_type()
-        message.ParseFromString(data.to_bytes())
-        return message
-
-    return decode
-
-
-def raw_bytes_decoder(data: zenoh.ZBytes) -> bytes:
-    """Decoder that returns raw bytes.
-
-    Args:
-        data: Zenoh bytes data.
-
-    Returns:
-        Raw bytes data.
-    """
-    return data.to_bytes()
-
-
-def json_decoder(data: zenoh.ZBytes) -> Any:
-    """Decoder that parses JSON from bytes.
-
-    Args:
-        data: Zenoh bytes data containing JSON.
-
-    Returns:
-        Parsed JSON data.
-
-    Raises:
-        json.JSONDecodeError: If the data is not valid JSON.
-    """
-    return json.loads(data.to_bytes().decode("utf-8"))
-
-
-def string_decoder(data: zenoh.ZBytes, encoding: str = "utf-8") -> str:
-    """Decoder that converts bytes to string.
-
-    Args:
-        data: Zenoh bytes data.
-        encoding: Text encoding to use for decoding.
-
-    Returns:
-        Decoded string.
-
-    Raises:
-        UnicodeDecodeError: If the data cannot be decoded with the specified encoding.
-    """
-    return data.to_bytes().decode(encoding)