hhart 0.1.0__tar.gz

hhart-0.1.0/LICENSE

@@ -0,0 +1,202 @@
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hhart-0.1.0/NOTICE

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+HHART, the Hybrid Hexagonal Architecture for Robotic Technologies
+Copyright 2026 Jackson Russell and the HHART contributors

hhart-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: hhart
+Version: 0.1.0
+Summary: HHART: ports, adapters and rule checks any robot can use. Stdlib only
+Author-email: Jackson Russell <Jackson.Russell@student.uts.edu.au>
+License: Apache-2.0
+Project-URL: Repository, https://github.com/HHART-Robotics/HHART
+Project-URL: Issues, https://github.com/HHART-Robotics/HHART/issues
+Project-URL: Changelog, https://github.com/HHART-Robotics/HHART/blob/main/CHANGELOG.md
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Provides-Extra: test
+Requires-Dist: pytest; extra == "test"
+Dynamic: license-file
+Dynamic: requires-python
+
+# hhart
+
+HHART's Python package and CLI. Stdlib only.
+
+Developed in [HHART](https://github.com/HHART-Robotics/HHART), where issues and PRs go.
+[HHART-Python](https://github.com/HHART-Robotics/HHART-Python) is a read-only
+mirror of this folder.
+
+## Install
+
+```text
+uv pip install hhart
+```
+
+Or build it with colcon (it has a `package.xml`) and run `ros2 run hhart hhart`.
+ROS 2 Jazzy only for now.
+
+## Modules
+
+| Module | |
+| --- | --- |
+| `hhart.ports` | `TelemetrySource`, `Publisher` and `Clock` protocols |
+| `hhart.clock` | `SystemClock`, and `ManualClock` for tests |
+| `hhart.arbitration` | Operator latch (`admit`), deadman (`deadman`) and `Arbiter` |
+| `hhart.rate_limit`, `hhart.retry` | Rate limiting and reconnecting for telemetry sources |
+| `hhart.websocket_publisher` | Fan-out to WebSocket clients |
+| `hhart.contract` | Contract registry, `describe`, generated spec and golden fixture |
+| `hhart.operator` | `serve`, one operator WebSocket connection |
+| `hhart.cli` | `hhart new`, `check` and `contract` |
+| `hhart.testing.fitness` | Rule checks for a robot's tests |
+
+## Checks
+
+The checks parse source with `ast`, so nothing is imported. Each raises
+`AssertionError` listing the offending files.
+
+| Check | Fails when | Rule |
+| --- | --- | --- |
+| `assert_core_is_pure(core)` | the core imports a device, transport or middleware library | 2 |
+| `assert_dependencies_point_inward(package)` | an inner layer imports an outer one (`core`, `adapters`, `apps`) | 2 |
+| `assert_middleware_confined(package, "rclpy", to=adapter)` | rclpy is imported outside its adapter | 2, 4 |
+| `assert_no_load_time_imports(package, ROS_PACKAGES)` | ROS is imported at module level | 9 |
+| `assert_roots_reach_the_core(apps, core)` | an entry point never uses the core | 2 |
+| `assert_roots_have_no_import_effects(apps)` | importing an entry point parses args, sets up logging or installs signal handlers | 9 |
+| `assert_literals_confined(package, literals, to=module)` | a wire format or message type appears outside the module that owns it | 4, 6 |
+
+`check_all(package)` runs the default set:
+
+```python
+from hhart.testing import fitness
+
+
+def test_architecture():
+    failed = [f"Rule {rule}, {check}: {error}" for rule, check, error in fitness.check_all("myrobot") if error]
+    assert not failed, "\n".join(failed)
+```
+
+The checks expect a package split into `core`, `adapters` and `apps`.
+
+## Contract
+
+```python
+from dataclasses import dataclass
+
+from hhart.contract import IN, Contract
+
+CONTRACT = Contract(version="0.1.0")
+
+
+@CONTRACT.message("drive", direction=IN)
+@dataclass(frozen=True)
+class Drive:
+    direction: str
+    pct: int
+
+
+CONTRACT.passthrough("battery", topic="/battery_state", ros_type="sensor_msgs/msg/BatteryState",
+                     fields={"voltage_v": "voltage"}, units={"voltage_v": "V"}, max_hz=1.0)
+```
+
+`encode` and `decode` handle tier 1 messages, `passthrough_payload` tier 2.
+`describe()` is sent to the UI on connect. `markdown()` and `examples()` give
+`CONTRACT.md` and the golden fixture.
+
+## Tests
+
+```text
+uv venv && uv pip install -e ".[dev]"
+pytest
+```
+
+## Licence
+
+Licensed under the [Apache License 2.0](LICENSE) (Apache-2.0), like the rest of
+[HHART](https://github.com/HHART-Robotics/HHART). See [NOTICE](NOTICE).

hhart-0.1.0/README.md

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+# hhart
+
+HHART's Python package and CLI. Stdlib only.
+
+Developed in [HHART](https://github.com/HHART-Robotics/HHART), where issues and PRs go.
+[HHART-Python](https://github.com/HHART-Robotics/HHART-Python) is a read-only
+mirror of this folder.
+
+## Install
+
+```text
+uv pip install hhart
+```
+
+Or build it with colcon (it has a `package.xml`) and run `ros2 run hhart hhart`.
+ROS 2 Jazzy only for now.
+
+## Modules
+
+| Module | |
+| --- | --- |
+| `hhart.ports` | `TelemetrySource`, `Publisher` and `Clock` protocols |
+| `hhart.clock` | `SystemClock`, and `ManualClock` for tests |
+| `hhart.arbitration` | Operator latch (`admit`), deadman (`deadman`) and `Arbiter` |
+| `hhart.rate_limit`, `hhart.retry` | Rate limiting and reconnecting for telemetry sources |
+| `hhart.websocket_publisher` | Fan-out to WebSocket clients |
+| `hhart.contract` | Contract registry, `describe`, generated spec and golden fixture |
+| `hhart.operator` | `serve`, one operator WebSocket connection |
+| `hhart.cli` | `hhart new`, `check` and `contract` |
+| `hhart.testing.fitness` | Rule checks for a robot's tests |
+
+## Checks
+
+The checks parse source with `ast`, so nothing is imported. Each raises
+`AssertionError` listing the offending files.
+
+| Check | Fails when | Rule |
+| --- | --- | --- |
+| `assert_core_is_pure(core)` | the core imports a device, transport or middleware library | 2 |
+| `assert_dependencies_point_inward(package)` | an inner layer imports an outer one (`core`, `adapters`, `apps`) | 2 |
+| `assert_middleware_confined(package, "rclpy", to=adapter)` | rclpy is imported outside its adapter | 2, 4 |
+| `assert_no_load_time_imports(package, ROS_PACKAGES)` | ROS is imported at module level | 9 |
+| `assert_roots_reach_the_core(apps, core)` | an entry point never uses the core | 2 |
+| `assert_roots_have_no_import_effects(apps)` | importing an entry point parses args, sets up logging or installs signal handlers | 9 |
+| `assert_literals_confined(package, literals, to=module)` | a wire format or message type appears outside the module that owns it | 4, 6 |
+
+`check_all(package)` runs the default set:
+
+```python
+from hhart.testing import fitness
+
+
+def test_architecture():
+    failed = [f"Rule {rule}, {check}: {error}" for rule, check, error in fitness.check_all("myrobot") if error]
+    assert not failed, "\n".join(failed)
+```
+
+The checks expect a package split into `core`, `adapters` and `apps`.
+
+## Contract
+
+```python
+from dataclasses import dataclass
+
+from hhart.contract import IN, Contract
+
+CONTRACT = Contract(version="0.1.0")
+
+
+@CONTRACT.message("drive", direction=IN)
+@dataclass(frozen=True)
+class Drive:
+    direction: str
+    pct: int
+
+
+CONTRACT.passthrough("battery", topic="/battery_state", ros_type="sensor_msgs/msg/BatteryState",
+                     fields={"voltage_v": "voltage"}, units={"voltage_v": "V"}, max_hz=1.0)
+```
+
+`encode` and `decode` handle tier 1 messages, `passthrough_payload` tier 2.
+`describe()` is sent to the UI on connect. `markdown()` and `examples()` give
+`CONTRACT.md` and the golden fixture.
+
+## Tests
+
+```text
+uv venv && uv pip install -e ".[dev]"
+pytest
+```
+
+## Licence
+
+Licensed under the [Apache License 2.0](LICENSE) (Apache-2.0), like the rest of
+[HHART](https://github.com/HHART-Robotics/HHART). See [NOTICE](NOTICE).

hhart-0.1.0/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>hhart</name>
+  <version>0.1.0</version>
+  <description>HHART: ports, arbitration, the operator contract and rule checks any robot can use. Stdlib only.</description>
+  <maintainer email="Jackson.Russell@student.uts.edu.au">Jackson Russell</maintainer>
+  <license>Apache-2.0</license>
+  <test_depend>python3-pytest</test_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

hhart-0.1.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=68"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "hhart"
+version = "0.1.0"
+description = "HHART: ports, adapters and rule checks any robot can use. Stdlib only"
+readme = "README.md"
+# In setup.py instead, colcon's literal_eval chokes on setuptools' SpecifierSet
+dynamic = ["requires-python"]
+# Table form, Jazzy's setuptools 68 rejects bare SPDX string
+license = {text = "Apache-2.0"}
+authors = [{name = "Jackson Russell", email = "Jackson.Russell@student.uts.edu.au"}]
+
+dependencies = []
+
+[project.urls]
+Repository = "https://github.com/HHART-Robotics/HHART"
+Issues = "https://github.com/HHART-Robotics/HHART/issues"
+Changelog = "https://github.com/HHART-Robotics/HHART/blob/main/CHANGELOG.md"
+
+[project.optional-dependencies]
+dev = ["pytest"]
+# colcon test only runs pytest via extra named test
+test = ["pytest"]
+
+[project.scripts]
+hhart = "hhart.cli:main"

hhart-0.1.0/setup.cfg

@@ -0,0 +1,10 @@
+[develop]
+script_dir = $base/lib/hhart
+
+[install]
+install_scripts = $base/lib/hhart
+
+[egg_info]
+tag_build = 
+tag_date = 0
+

hhart-0.1.0/setup.py

@@ -0,0 +1,27 @@
+"""For colcon, pip uses pyproject.toml. Both bundle ../template for hhart new"""
+
+import pathlib
+import shutil
+
+from setuptools import setup
+from setuptools.command.build_py import build_py
+
+TEMPLATE = pathlib.Path(__file__).resolve().parent.parent / "template"
+SKIP = shutil.ignore_patterns("__pycache__", "*.pyc", ".pytest_cache", "node_modules", "dist", "build",
+                              ".pio", "*.egg-info", "recordings")
+
+
+class BuildPy(build_py):
+    def run(self):
+        super().run()
+        if TEMPLATE.is_dir():  # Missing in sdist builds
+            shutil.copytree(TEMPLATE, pathlib.Path(self.build_lib) / "hhart" / "template",
+                            ignore=SKIP, dirs_exist_ok=True)
+
+
+setup(
+    python_requires=">=3.10",
+    cmdclass={"build_py": BuildPy},
+    data_files=[("share/ament_index/resource_index/packages", ["resource/hhart"]),
+                ("share/hhart", ["package.xml"])],
+)

hhart-0.1.0/src/hhart/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.1.0"

hhart-0.1.0/src/hhart/__main__.py

@@ -0,0 +1,3 @@
+from hhart.cli import main
+
+raise SystemExit(main())

hhart-0.1.0/src/hhart/arbitration.py

@@ -0,0 +1,78 @@
+from __future__ import annotations
+
+import logging
+import math
+
+from hhart.ports import Clock
+
+logger = logging.getLogger(__name__)
+
+OPERATOR = "operator"
+ROS = "ros"
+TEST = "test"
+
+
+def admit(latched: bool, source: str, action: str) -> tuple[bool, bool]:
+    """(allowed, latched). Operator stop locks out other sources until operator releases"""
+    if action == "stop":
+        return True, latched or source == OPERATOR
+    if action == "release":
+        return source == OPERATOR, latched and source != OPERATOR
+    return source == OPERATOR or not latched, latched
+
+
+def deadman(now_s: float, received_s: float, commanding: bool, driving: bool, timeout_s: float) -> str | None:
+    """"drive" (resend), "stop" or None. Ticked every P, silent source stops within [T, T + P)"""
+    if commanding and now_s - received_s < timeout_s:
+        return "drive"
+    return "stop" if driving else None
+
+
+class Arbiter:
+
+    def __init__(self, motors, clock: Clock, *, period_s: float, timeout_s: float) -> None:
+        self._motors = motors
+        self._clock = clock
+        self.period_s = period_s
+        self.timeout_s = timeout_s
+        self.latched = False
+        self.driver: str | None = None
+        self._held, self._received_s = None, -math.inf
+
+    async def drive(self, command, source: str) -> None:
+        """Ignored while latched out. New command sent at once, repeat only refreshes it"""
+        allowed, self.latched = admit(self.latched, source, "drive")
+        if not allowed:
+            return
+        repeat = self.driver is not None and command == self._held
+        self._held, self._received_s, self.driver = command, self._clock.monotonic(), source
+        if not repeat:
+            await self._motors.send(command)
+
+    async def stop(self, source: str) -> None:
+        _, self.latched = admit(self.latched, source, "stop")
+        self._drop()
+        await self._motors.stop()
+
+    def release(self, source: str) -> None:
+        _, self.latched = admit(self.latched, source, "release")
+
+    async def run(self, sleep) -> None:
+        while True:
+            await sleep(self.period_s)
+            await self.tick()
+
+    async def tick(self) -> None:
+        action = deadman(self._clock.monotonic(), self._received_s, self._held is not None,
+                         self.driver is not None, self.timeout_s)
+        try:
+            if action == "drive":
+                await self._motors.send(self._held)
+            elif action == "stop":
+                self._drop()
+                await self._motors.stop()
+        except Exception as exc:
+            logger.warning("deadman %s failed: %s", action, exc)
+
+    def _drop(self) -> None:
+        self._held, self._received_s, self.driver = None, -math.inf, None