dora-rs 0.3.3rc1__cp37-abi3-macosx_11_0_arm64.whl → 0.3.4rc2__cp37-abi3-macosx_11_0_arm64.whl

dora/__init__.py

@@ -1,10 +1,7 @@
 """ 
 # dora-rs
-
 This is the dora python client for interacting with dora dataflow.
-
 You can install it via:
-
 ```bash
 pip install dora-rs
 ```
@@ -14,14 +11,27 @@ from enum import Enum
 
 from .dora import *
 
-__author__ = "Dora-rs Authors"
-__version__ = "0.3.3-rc1"
+from .dora import (
+    Node,
+    PyEvent,
+    Ros2Context,
+    Ros2Node,
+    Ros2NodeOptions,
+    Ros2Topic,
+    Ros2Publisher,
+    Ros2Subscription,
+    start_runtime,
+    __version__,
+    __author__,
+    Ros2QosPolicies,
+    Ros2Durability,
+    Ros2Liveliness,
+)
 
 
 class DoraStatus(Enum):
     """Dora status to indicate if operator `on_input` loop
      should be stopped.
-
     Args:
         Enum (u8): Status signaling to dora operator to
         stop or continue the operator.

dora/__init__.pyi

@@ -0,0 +1,317 @@
+import dora
+import pyarrow
+import typing
+
+@typing.final
+class Enum:
+    """Generic enumeration.
+
+Derive from this class to define new enumerations."""
+    __members__: mappingproxy = ...
+
+@typing.final
+class Node:
+    """The custom node API lets you integrate `dora` into your application.
+It allows you to retrieve input and send output in any fashion you want.
+
+Use with:
+
+```python
+from dora import Node
+
+node = Node()
+```"""
+
+    def __init__(self) -> None:
+        """The custom node API lets you integrate `dora` into your application.
+It allows you to retrieve input and send output in any fashion you want.
+
+Use with:
+
+```python
+from dora import Node
+
+node = Node()
+```"""
+
+    def dataflow_descriptor(self) -> dict:
+        """Returns the full dataflow descriptor that this node is part of.
+
+This method returns the parsed dataflow YAML file."""
+
+    def merge_external_events(self, subscription: dora.Ros2Subscription) -> None:
+        """Merge an external event stream with dora main loop.
+This currently only work with ROS2."""
+
+    def next(self, timeout: float=None) -> dora.PyEvent:
+        """`.next()` gives you the next input that the node has received.
+It blocks until the next event becomes available.
+You can use timeout in seconds to return if no input is available.
+It will return `None` when all senders has been dropped.
+
+```python
+event = node.next()
+```
+
+You can also iterate over the event stream with a loop
+
+```python
+for event in node:
+match event["type"]:
+case "INPUT":
+match event["id"]:
+case "image":
+```"""
+
+    def send_output(self, output_id: str, data: pyarrow.Array, metadata: dict=None) -> None:
+        """`send_output` send data from the node.
+
+```python
+Args:
+output_id: str,
+data: pyarrow.Array,
+metadata: Option[Dict],
+```
+
+ex:
+
+```python
+node.send_output("string", b"string", {"open_telemetry_context": "7632e76"})
+```"""
+
+    def __iter__(self) -> typing.Any:
+        """Implement iter(self)."""
+
+    def __next__(self) -> typing.Any:
+        """Implement next(self)."""
+
+@typing.final
+class PyEvent:
+    """Dora Event"""
+
+    def inner(self):...
+
+    def __getitem__(self, key: typing.Any) -> typing.Any:
+        """Return self[key]."""
+
+@typing.final
+class Ros2Context:
+    """ROS2 Context holding all messages definition for receiving and sending messages to ROS2.
+
+By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.
+
+AMENT_PREFIX_PATH folder structure should be the following:
+
+- For messages: <namespace>/msg/<name>.msg
+- For services: <namespace>/srv/<name>.srv
+
+You can also use `ros_paths` if you don't want to use env variable.
+
+warning::
+dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change.
+
+```python
+context = Ros2Context()
+```"""
+
+    def __init__(self, ros_paths: typing.List[str]=None) -> None:
+        """ROS2 Context holding all messages definition for receiving and sending messages to ROS2.
+
+By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.
+
+AMENT_PREFIX_PATH folder structure should be the following:
+
+- For messages: <namespace>/msg/<name>.msg
+- For services: <namespace>/srv/<name>.srv
+
+You can also use `ros_paths` if you don't want to use env variable.
+
+warning::
+dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change.
+
+```python
+context = Ros2Context()
+```"""
+
+    def new_node(self, name: str, namespace: str, options: dora.Ros2NodeOptions) -> dora.Ros2Node:
+        """Create a new ROS2 node
+
+```python
+ros2_node = ros2_context.new_node(
+"turtle_teleop",
+"/ros2_demo",
+Ros2NodeOptions(rosout=True),
+)
+```
+
+warning::
+dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+@typing.final
+class Ros2Durability:
+    """DDS 2.2.3.4 DURABILITY"""
+
+    def __eq__(self, value: typing.Any) -> bool:
+        """Return self==value."""
+
+    def __ge__(self, value: typing.Any) -> bool:
+        """Return self>=value."""
+
+    def __gt__(self, value: typing.Any) -> bool:
+        """Return self>value."""
+
+    def __int__(self) -> None:
+        """int(self)"""
+
+    def __le__(self, value: typing.Any) -> bool:
+        """Return self<=value."""
+
+    def __lt__(self, value: typing.Any) -> bool:
+        """Return self<value."""
+
+    def __ne__(self, value: typing.Any) -> bool:
+        """Return self!=value."""
+
+    def __repr__(self) -> str:
+        """Return repr(self)."""
+    Persistent: Ros2Durability = ...
+    Transient: Ros2Durability = ...
+    TransientLocal: Ros2Durability = ...
+    Volatile: Ros2Durability = ...
+
+@typing.final
+class Ros2Liveliness:
+    """DDS 2.2.3.11 LIVELINESS"""
+
+    def __eq__(self, value: typing.Any) -> bool:
+        """Return self==value."""
+
+    def __ge__(self, value: typing.Any) -> bool:
+        """Return self>=value."""
+
+    def __gt__(self, value: typing.Any) -> bool:
+        """Return self>value."""
+
+    def __int__(self) -> None:
+        """int(self)"""
+
+    def __le__(self, value: typing.Any) -> bool:
+        """Return self<=value."""
+
+    def __lt__(self, value: typing.Any) -> bool:
+        """Return self<value."""
+
+    def __ne__(self, value: typing.Any) -> bool:
+        """Return self!=value."""
+
+    def __repr__(self) -> str:
+        """Return repr(self)."""
+    Automatic: Ros2Liveliness = ...
+    ManualByParticipant: Ros2Liveliness = ...
+    ManualByTopic: Ros2Liveliness = ...
+
+@typing.final
+class Ros2Node:
+    """ROS2 Node
+
+warnings::
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change.
+- There's a known issue about ROS2 nodes not being discoverable by ROS2
+See: https://github.com/jhelovuo/ros2-client/issues/4"""
+
+    def create_publisher(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Publisher:
+        """Create a ROS2 publisher
+
+```python
+pose_publisher = ros2_node.create_publisher(turtle_pose_topic)
+```
+warnings:
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+    def create_subscription(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Subscription:
+        """Create a ROS2 subscription
+
+```python
+pose_reader = ros2_node.create_subscription(turtle_pose_topic)
+```
+
+warnings:
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+    def create_topic(self, name: str, message_type: str, qos: dora.Ros2QosPolicies) -> dora.Ros2Topic:
+        """Create a ROS2 topic to connect to.
+
+```python
+turtle_twist_topic = ros2_node.create_topic(
+"/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos
+)
+```"""
+
+@typing.final
+class Ros2NodeOptions:
+    """ROS2 Node Options"""
+
+    def __init__(self, rosout: bool=None) -> None:
+        """ROS2 Node Options"""
+
+@typing.final
+class Ros2Publisher:
+    """ROS2 Publisher
+
+warnings:
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+    def publish(self, data: pyarrow.Array) -> None:
+        """Publish a message into ROS2 topic.
+
+Remember that the data format should respect the structure of the ROS2 message usinng an arrow Structure.
+
+ex:
+```python
+gripper_command.publish(
+pa.array(
+[
+{
+"name": "gripper",
+"cmd": np.float32(5),
+}
+]
+),
+)
+```"""
+
+@typing.final
+class Ros2QosPolicies:
+    """ROS2 QoS Policy"""
+
+    def __init__(self, durability: dora.Ros2Durability=None, liveliness: dora.Ros2Liveliness=None, reliable: bool=None, keep_all: bool=None, lease_duration: float=None, max_blocking_time: float=None, keep_last: int=None) -> dora.Ros2QoSPolicies:
+        """ROS2 QoS Policy"""
+
+@typing.final
+class Ros2Subscription:
+    """ROS2 Subscription
+
+
+warnings:
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+    def next(self):...
+
+@typing.final
+class Ros2Topic:
+    """ROS2 Topic
+
+warnings:
+- dora Ros2 bridge functionality is considered **unstable**. It may be changed
+at any point without it being considered a breaking change."""
+
+def start_runtime() -> None:
+    """Start a runtime for Operators"""

{dora_rs-0.3.3rc1.dist-info → dora_rs-0.3.4rc2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.3
 Name: dora-rs
-Version: 0.3.3rc1
+Version: 0.3.4rc2
 Requires-Dist: pyarrow
 Summary: `dora` goal is to be a low latency, composable, and distributed data flow.
 License: Apache-2.0
@@ -19,3 +19,12 @@ pip install maturin
 maturin develop
 ```
 
+## Type hinting
+
+Type hinting requires to run a second step
+
+```bash
+python generate_stubs.py dora dora/__init__.pyi
+maturin develop
+```
+

dora_rs-0.3.4rc2.dist-info/RECORD

@@ -0,0 +1,6 @@
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+dora/dora.abi3.so,sha256=zaGQZ77p7jfcS7qO99ne91HAbaTHV3K5kmAPlrNFRFI,20351584
+dora_rs-0.3.4rc2.dist-info/RECORD,,

dora_rs-0.3.3rc1.dist-info/RECORD

@@ -1,5 +0,0 @@
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-dora_rs-0.3.3rc1.dist-info/RECORD,,