lockwire 0.2.0__tar.gz → 0.2.4__tar.gz

{lockwire-0.2.0 → lockwire-0.2.4}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: lockwire
-Version: 0.2.0
-Summary: The physical-assumption contract for robots: physics lockfile + preflight gate
+Version: 0.2.4
+Summary: The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up
 Keywords: robotics,urdf,ros,preflight,lockfile,ci,hardware,drone
 Author: Shivansh
 License-Expression: Apache-2.0
@@ -19,7 +19,9 @@ Requires-Dist: pydantic>=2.13.4
 Requires-Dist: rich>=15.0.0
 Requires-Dist: ruamel-yaml>=0.19.1
 Requires-Dist: typer>=0.26.8
-Requires-Dist: mcp>=2.1.1 ; extra == 'mcp'
+Requires-Dist: xacro>=2.1.1
+Requires-Dist: mcp>=2.2.0 ; extra == 'mcp'
+Requires-Dist: pyjwt>=2.15 ; extra == 'mcp'
 Requires-Dist: fastapi>=0.141.1 ; extra == 'serve'
 Requires-Dist: uvicorn>=0.52.4 ; extra == 'serve'
 Requires-Python: >=3.12
@@ -30,45 +32,156 @@ Provides-Extra: mcp
 Provides-Extra: serve
 Description-Content-Type: text/markdown
 
-# lockwire
+<p align="center">
+<picture>
+  <source media="(prefers-color-scheme: dark)" srcset="docs/img/logo-dark.svg">
+  <img src="docs/img/logo-light.svg" alt="lockwire" height="64">
+</picture>
+</p>
 
 **Find out your robot won't work before you buy the parts.**
 
+![The drone in 3D with its power parts in red, and a NO-GO finding that the 5 V rail is overloaded](docs/img/hero.png)
+
 Every robot is a stack of numbers from a dozen datasheets: what each part weighs, what each power rail can supply, how much the bus can carry, how much torque each joint gets. Lockwire keeps those numbers in one file and tells you the moment they stop adding up. Use it while you're still planning a build, then keep it in CI so a part swap can't quietly break it later.
 
-Prefer clicking to typing? The free desktop app does the same visually: Open, Design, Declare, Plan, Check.
+## Try it in 30 seconds
+
+Needs Python 3.12 or newer (the Python that ships with macOS is older).
+
+```bash
+pipx install lockwire
+lockwire start --example servo-bench
+lockwire check
+```
+
+```console
+VIOLATION budgets/bud.power.servo-5v — observed 32.10 W, expected <= 15.00 W (Δ +17.10 W (+114%))
+  dependent: dev.pi5, dev.servo1, dev.servo2, dev.servo3, dev.servo4
+  ...
+NO-GO — 1 violation(s), 0 warning(s)
+```
+
+A Raspberry Pi 5 and four servos on one 3 A regulator: caught before you ordered either.
 
-## Plan a robot from scratch
+## Try it on your robot
 
-Start from a URDF (one line is enough), add the parts you're thinking of buying, and check:
+Point it at your URDF and see what it flags:
 
 ```bash
-pip install "git+https://github.com/Shivansh2703/lockwire@v0.2.0"   # not on PyPI
-echo '<robot name="rover"><link name="base_link"/></robot>' > robot.urdf
-lockwire start robot.urdf
-lockwire add rail   lockwire.yaml --id rail.5v --voltage "5 V" --capacity "15 W" --source "UBEC datasheet: 5 V 3 A" --witness Sam
-lockwire add device lockwire.yaml --id dev.pi5   --family fam.pi    --model mod.pi5    --rail rail.5v --draw "12 W" --mass "46 g" --mount-frame base_link --owner you --source "Raspberry Pi 5 product brief" --witness Sam
-lockwire add device lockwire.yaml --id dev.servo --family fam.servo --model mod.mg996r --rail rail.5v --draw "6 W"  --mass "55 g" --mount-frame base_link --owner you --source "MG996R datasheet" --witness Sam
-lockwire add budget lockwire.yaml --id bud.5v --kind rail_power --rail rail.5v --limit "15 W" --owner you --source "UBEC datasheet" --witness Sam
+lockwire start path/to/robot.urdf
+lockwire check
+```
+
+No URDF? Start from the example and swap in your parts:
+
+```bash
+lockwire start --example servo-bench
+lockwire add device lockwire.yaml --id dev.servo5 --family fam.servo --model mod.mg996r --rail rail.servo-5v --draw "6 W" --mass "55 g" --owner you --source "MG996R datasheet" --witness Sam
+lockwire check
+```
+
+See `lockwire add --help` for rails, budgets and the rest.
+
+## Download the app
+
+The free desktop app does the same visually. Get it from the [latest release](https://github.com/Shivansh2703/lockwire/releases/latest).
+
+![Open the app, click the Drone starter, and Lockwire shows the drone in 3D with a NO-GO on its 5 V power rail](docs/img/try-example.gif)
+
+- **macOS (Apple silicon):** unzip, open Lockwire. The first open shows a warning because the app is not notarized: open System Settings, Privacy & Security, scroll down and click "Open Anyway".
+- **Linux:** `chmod +x Lockwire-*.AppImage`, then run it. Ubuntu 22.04 needs `sudo apt install libfuse2`; Ubuntu 24.04 needs `sudo apt install libfuse2t64`.
+- **Windows app:** not yet.
+
+## Other ways to use it
+
+**Command line.** Make a lockfile and check it from a terminal.
+
+```
+pipx install lockwire
+```
+
+```
+lockwire start --example drone
+```
+
+Starters: `lockwire start --example <name>` with drone, rover, arm, quadruped or humanoid. Add your own: see [CONTRIBUTING](CONTRIBUTING.md).
+
+```
 lockwire check lockwire.yaml
 ```
 
-`--witness` is the person who read the number off the datasheet; use a real name, not "you".
+**Desktop app.** Download it above, click a New robot starter, or open your own lockfile.
 
-```console
-VIOLATION budgets/bud.5v — observed 18.00 W, expected <= 15.00 W (Δ +3.00 W (+20%))
-  dependent: dev.pi5, dev.servo
-  owner: you
-  source: UBEC datasheet: 5 V 3 A
-  action: shed load on rail 'rail.5v' or raise its capacity with provenance
-warning model/links/base_link/mass — observed zero or missing mass, expected a positive mass with units
-  …
-scored 2: 0 add up, 1 do not · 0 not scored
+```
+https://github.com/Shivansh2703/lockwire/releases/latest
+```
 
-NO-GO — 1 violation(s), 1 warning(s)
+**GitHub Action.** Run the check on every push and keep an HTML report.
+
+```
+- uses: actions/checkout@v4
+- uses: Shivansh2703/lockwire@v0
+  with:
+    contract: lockwire.yaml
+```
+
+**AI agents (MCP).** Let Claude Desktop, Claude Code or Cursor check your robot before it acts.
+
+```
+pipx install "lockwire[mcp]"
+```
+
+```
+claude mcp add lockwire -- lockwire mcp
+```
+
+```
+{
+  "mcpServers": {
+    "lockwire": { "command": "lockwire", "args": ["mcp"] }
+  }
+}
+```
+
+Claude Code: the claude mcp add line. Claude Desktop: put the JSON in claude_desktop_config.json. Cursor: put the JSON in .cursor/mcp.json (or ~/.cursor/mcp.json). If the app cannot find lockwire, use the full path from which lockwire. Then ask: Check my robot's lockwire.yaml and explain the NO-GO.
+
+**Agent plan and what-if.** Score an intended plan, or a proposed change, before anything executes.
+
+```
+lockwire plan lockwire.yaml plan.yaml
+```
+
+```
+lockwire what-if lockwire.yaml --change "devices/dev.onboard-computer/physical/mass=300 g" --source "my scale" --witness me
+```
+
+plan.yaml holds steps, for example: steps: [{kind: rail_load, rail: rail.supply-5v, draw: {value: 10, unit: W}}]
+
+**Python library.** Call the same check from your own script.
+
+```
+import lockwire.api as lw
+print(lw.check("lockwire.yaml")["verdict"])
 ```
 
-The check exits 1. A Pi 5 and one servo on a common 3 A regulator: caught before you ordered either. Swap in a 5 A regulator and it passes.
+**ROS, preflight and the local API.** The go/no-go gate for a powered-on robot, ROS and the local server.
+
+Part of Lockwire Pro.
+
+### Features
+
+- **Check:** See which numbers do not add up. `lockwire check lockwire.yaml`
+- **Declare a fact:** Set one value with a source and a witness. `lockwire declare lockwire.yaml devices/dev.power-module.pm02-v3/physical/mass "25 g" --source "my scale" --witness me`
+- **Add a part:** Add a device, rail, bus or battery block. `lockwire add --help`
+- **Design (place, move, rotate, reparent):** Put a part in the 3D model and move it. Switch on the Power, Data and Mechanical connection views to see them drawn on the robot, and use W, A, S, D to move the camera. `lockwire move lockwire.yaml dev.power-module.pm02-v3 --offset 0.01,0,0.02 --unit m --source "tape measure" --witness me`
+- **Plan and what-if:** Score a plan or a change without editing the lockfile. `lockwire plan lockwire.yaml plan.yaml`
+- **Report:** Write one HTML page to share. `lockwire report lockwire.yaml -o report.html --no-open`
+- **Describe:** Write a reference sheet per part. `lockwire describe lockwire.yaml --out ref`
+- **History (diff, log, blame):** See what changed, by whom, and why (needs git). `lockwire diff`
+- **Scene:** Read part positions from a 3D model. `lockwire scene import --help`
+- **Gearbox:** Add a gearbox with its ratio and joints. `lockwire gearbox --help`
+- **Upgrade:** Write a new lockfile from an older one. `lockwire upgrade --help`
 
 ## A real-world example: the X500 drone
 
@@ -87,9 +200,9 @@ VIOLATION budgets/bud.power.pm02-5v — observed 35.20 W (draw mode: nominal), e
   action: shed load on rail 'rail.pm02-5v' or raise its capacity with provenance
 VIOLATION budgets/bud.power.pm02-5v.7w-mode — observed 17.20 W (draw mode: 7W), expected <= 15.60 W (Δ +1.60 W (+10%))
   … (same rail, Jetson in its 7 W mode: the radio's transmit peak still tips it over)
-not scored devices/dev.camera.oak-d-lite/physical/mass — observed mass not declared, expected a positive mass with units
+not scored budgets/bud.mass.payload — observed mass unknown for dev.companion.jetson-orin-nano, dev.camera.oak-d-lite, dev.magnetometer.ist8310; total not scored, expected every device and link in this budget to declare a mass
   … (more not-scored lines: things the lockfile does not declare yet, listed, never hidden)
-scored 10: 8 add up, 2 do not · 9 not scored
+scored 9: 7 add up, 2 do not · 10 not scored
 
 NO-GO — 2 violation(s), 0 warning(s)
 $ echo $?
@@ -106,7 +219,7 @@ integration of published parts, and the two vendors' own numbers still do not ad
 Nobody printed "this build is broken". Nobody printed "5 A" either: that is 25 W / 5 V, a
 quotient of figures published on different pages. The records disagree with each other, and
 you find out before you apply power. Give the Jetson its own regulator
-(`tests/fixtures/x500/contract_corrected.yaml`) and the same check passes.
+(`tests/fixtures/x500/contract_corrected.yaml`) and the same check passes: `GO — records agree (10 scored); 10 check(s) not scored`.
 
 ## Your own robot
 
@@ -130,7 +243,9 @@ Any field you hand-edited (including `robot.name`) is silently overwritten back
 | `start` | the contract was written (or an existing one kept); no page is written | the URDF/SDF could not be parsed, or the contract could not be read or written | — | — |
 
 `NOT SCORED` (exit 3) means no comparison had both operands: it is not a pass and not a failure.
+
 The `scored N: …` line above the verdict is where a script should look.
+`lockwire check --strict` makes a `GO with notes` run exit 1 (the `NO-GO` code); the table does not change.
 
 ## In CI
 
@@ -141,15 +256,15 @@ The `scored N: …` line above the verdict is where a script should look.
     contract: lockwire.yaml
 ```
 
-Inputs: `contract` (default `lockwire.yaml`), `version` (default latest), `python-version` (default 3.12).
-Or just `pip install "git+https://github.com/Shivansh2703/lockwire@v0.2.0" && lockwire check lockwire.yaml`.
+Inputs: `contract` (default `lockwire.yaml`), `version` (pin a PyPI release; default installs the action's own code), `strict` (default `false`; `true` passes `--strict`), `python-version` (default 3.12).
+Or just `pipx install lockwire && lockwire check lockwire.yaml`.
 
 ## Pre-commit
 
 ```yaml
 repos:
   - repo: https://github.com/Shivansh2703/lockwire
-    rev: v0.2.0
+    rev: v0.2.3
     hooks:
       - id: lockwire-check
 ```
@@ -179,8 +294,7 @@ No physics simulation, no machine learning, no network. The answer is the same t
 - **Free forever (this repo):** the lockfile, all deterministic checks including
   power/thermal/bus/link/torque budgets, edit / describe / plan / what-if, the MCP server, the
   HTML report, and the desktop planning app (Open, Design, Declare, Plan, Check).
-- **Lockwire Pro** adds the powered-on preflight gate (Test, Run), recording analysis
-  (rosbag2 / ULog), and health.
+- **Lockwire Pro** is the paid tier (powered-on preflight, recording analysis).
 
 ## Development
 

lockwire-0.2.4/README.md

@@ -0,0 +1,272 @@
+<p align="center">
+<picture>
+  <source media="(prefers-color-scheme: dark)" srcset="docs/img/logo-dark.svg">
+  <img src="docs/img/logo-light.svg" alt="lockwire" height="64">
+</picture>
+</p>
+
+**Find out your robot won't work before you buy the parts.**
+
+![The drone in 3D with its power parts in red, and a NO-GO finding that the 5 V rail is overloaded](docs/img/hero.png)
+
+Every robot is a stack of numbers from a dozen datasheets: what each part weighs, what each power rail can supply, how much the bus can carry, how much torque each joint gets. Lockwire keeps those numbers in one file and tells you the moment they stop adding up. Use it while you're still planning a build, then keep it in CI so a part swap can't quietly break it later.
+
+## Try it in 30 seconds
+
+Needs Python 3.12 or newer (the Python that ships with macOS is older).
+
+```bash
+pipx install lockwire
+lockwire start --example servo-bench
+lockwire check
+```
+
+```console
+VIOLATION budgets/bud.power.servo-5v — observed 32.10 W, expected <= 15.00 W (Δ +17.10 W (+114%))
+  dependent: dev.pi5, dev.servo1, dev.servo2, dev.servo3, dev.servo4
+  ...
+NO-GO — 1 violation(s), 0 warning(s)
+```
+
+A Raspberry Pi 5 and four servos on one 3 A regulator: caught before you ordered either.
+
+## Try it on your robot
+
+Point it at your URDF and see what it flags:
+
+```bash
+lockwire start path/to/robot.urdf
+lockwire check
+```
+
+No URDF? Start from the example and swap in your parts:
+
+```bash
+lockwire start --example servo-bench
+lockwire add device lockwire.yaml --id dev.servo5 --family fam.servo --model mod.mg996r --rail rail.servo-5v --draw "6 W" --mass "55 g" --owner you --source "MG996R datasheet" --witness Sam
+lockwire check
+```
+
+See `lockwire add --help` for rails, budgets and the rest.
+
+## Download the app
+
+The free desktop app does the same visually. Get it from the [latest release](https://github.com/Shivansh2703/lockwire/releases/latest).
+
+![Open the app, click the Drone starter, and Lockwire shows the drone in 3D with a NO-GO on its 5 V power rail](docs/img/try-example.gif)
+
+- **macOS (Apple silicon):** unzip, open Lockwire. The first open shows a warning because the app is not notarized: open System Settings, Privacy & Security, scroll down and click "Open Anyway".
+- **Linux:** `chmod +x Lockwire-*.AppImage`, then run it. Ubuntu 22.04 needs `sudo apt install libfuse2`; Ubuntu 24.04 needs `sudo apt install libfuse2t64`.
+- **Windows app:** not yet.
+
+## Other ways to use it
+
+**Command line.** Make a lockfile and check it from a terminal.
+
+```
+pipx install lockwire
+```
+
+```
+lockwire start --example drone
+```
+
+Starters: `lockwire start --example <name>` with drone, rover, arm, quadruped or humanoid. Add your own: see [CONTRIBUTING](CONTRIBUTING.md).
+
+```
+lockwire check lockwire.yaml
+```
+
+**Desktop app.** Download it above, click a New robot starter, or open your own lockfile.
+
+```
+https://github.com/Shivansh2703/lockwire/releases/latest
+```
+
+**GitHub Action.** Run the check on every push and keep an HTML report.
+
+```
+- uses: actions/checkout@v4
+- uses: Shivansh2703/lockwire@v0
+  with:
+    contract: lockwire.yaml
+```
+
+**AI agents (MCP).** Let Claude Desktop, Claude Code or Cursor check your robot before it acts.
+
+```
+pipx install "lockwire[mcp]"
+```
+
+```
+claude mcp add lockwire -- lockwire mcp
+```
+
+```
+{
+  "mcpServers": {
+    "lockwire": { "command": "lockwire", "args": ["mcp"] }
+  }
+}
+```
+
+Claude Code: the claude mcp add line. Claude Desktop: put the JSON in claude_desktop_config.json. Cursor: put the JSON in .cursor/mcp.json (or ~/.cursor/mcp.json). If the app cannot find lockwire, use the full path from which lockwire. Then ask: Check my robot's lockwire.yaml and explain the NO-GO.
+
+**Agent plan and what-if.** Score an intended plan, or a proposed change, before anything executes.
+
+```
+lockwire plan lockwire.yaml plan.yaml
+```
+
+```
+lockwire what-if lockwire.yaml --change "devices/dev.onboard-computer/physical/mass=300 g" --source "my scale" --witness me
+```
+
+plan.yaml holds steps, for example: steps: [{kind: rail_load, rail: rail.supply-5v, draw: {value: 10, unit: W}}]
+
+**Python library.** Call the same check from your own script.
+
+```
+import lockwire.api as lw
+print(lw.check("lockwire.yaml")["verdict"])
+```
+
+**ROS, preflight and the local API.** The go/no-go gate for a powered-on robot, ROS and the local server.
+
+Part of Lockwire Pro.
+
+### Features
+
+- **Check:** See which numbers do not add up. `lockwire check lockwire.yaml`
+- **Declare a fact:** Set one value with a source and a witness. `lockwire declare lockwire.yaml devices/dev.power-module.pm02-v3/physical/mass "25 g" --source "my scale" --witness me`
+- **Add a part:** Add a device, rail, bus or battery block. `lockwire add --help`
+- **Design (place, move, rotate, reparent):** Put a part in the 3D model and move it. Switch on the Power, Data and Mechanical connection views to see them drawn on the robot, and use W, A, S, D to move the camera. `lockwire move lockwire.yaml dev.power-module.pm02-v3 --offset 0.01,0,0.02 --unit m --source "tape measure" --witness me`
+- **Plan and what-if:** Score a plan or a change without editing the lockfile. `lockwire plan lockwire.yaml plan.yaml`
+- **Report:** Write one HTML page to share. `lockwire report lockwire.yaml -o report.html --no-open`
+- **Describe:** Write a reference sheet per part. `lockwire describe lockwire.yaml --out ref`
+- **History (diff, log, blame):** See what changed, by whom, and why (needs git). `lockwire diff`
+- **Scene:** Read part positions from a 3D model. `lockwire scene import --help`
+- **Gearbox:** Add a gearbox with its ratio and joints. `lockwire gearbox --help`
+- **Upgrade:** Write a new lockfile from an older one. `lockwire upgrade --help`
+
+## A real-world example: the X500 drone
+
+```bash
+git clone https://github.com/Shivansh2703/lockwire && cd lockwire     # the X500 example lives in the repo, not the wheel
+lockwire check tests/fixtures/x500/contract.yaml
+```
+
+Output (trimmed):
+
+```console
+$ lockwire check tests/fixtures/x500/contract.yaml
+VIOLATION budgets/bud.power.pm02-5v — observed 35.20 W (draw mode: nominal), expected <= 15.60 W (Δ +19.60 W (+126%))
+  dependent: dev.camera.oak-d-lite, dev.companion.jetson-orin-nano, dev.radio.rfd900x
+  owner: power-integration
+  action: shed load on rail 'rail.pm02-5v' or raise its capacity with provenance
+VIOLATION budgets/bud.power.pm02-5v.7w-mode — observed 17.20 W (draw mode: 7W), expected <= 15.60 W (Δ +1.60 W (+10%))
+  … (same rail, Jetson in its 7 W mode: the radio's transmit peak still tips it over)
+not scored budgets/bud.mass.payload — observed mass unknown for dev.companion.jetson-orin-nano, dev.camera.oak-d-lite, dev.magnetometer.ist8310; total not scored, expected every device and link in this budget to declare a mass
+  … (more not-scored lines: things the lockfile does not declare yet, listed, never hidden)
+scored 9: 7 add up, 2 do not · 10 not scored
+
+NO-GO — 2 violation(s), 0 warning(s)
+$ echo $?
+1
+```
+
+## What just happened
+
+A Holybro PM02 power module publishes a regulated 5 V rail at 3 A: 15.6 W. An NVIDIA Jetson
+Orin Nano publishes a 25 W power mode at 5 V: 5 A. Put a camera on the same rail and the
+published parts **cannot power the published companion computer**. This is a custom
+integration of published parts, and the two vendors' own numbers still do not add up.
+
+Nobody printed "this build is broken". Nobody printed "5 A" either: that is 25 W / 5 V, a
+quotient of figures published on different pages. The records disagree with each other, and
+you find out before you apply power. Give the Jetson its own regulator
+(`tests/fixtures/x500/contract_corrected.yaml`) and the same check passes: `GO — records agree (10 scored); 10 check(s) not scored`.
+
+## Your own robot
+
+`lockwire start` reads links, joints, masses and the structure hash from your URDF or SDF. A fresh
+lockfile knows the frame and nothing else; fill in devices, rails and buses as you go, and
+`check` lists what it still could not check.
+
+A lockfile whose `schema_version` this lockwire does not recognise is refused before any check runs.
+`check` prints `REFUSED — contract declares schema_version '0.99'; this lockwire supports 0.2, 0.3, 0.4` and exits 2.
+A lockfile at an older supported version is accepted as-is, with no automatic upgrade.
+
+Re-running `lockwire start --force` on the same URDF is destructive:
+re-declare every fact in the lockfile by hand, because no command carries those facts forward.
+Any field you hand-edited (including `robot.name`) is silently overwritten back to the URDF-derived value.
+
+## Exit codes
+
+| command | 0 | 1 | 2 | 3 |
+|---|---|---|---|---|
+| `check` | `GO`, `GO with notes` | `NO-GO` | a contract that could not be found, read, or parsed | `NOT SCORED` (nothing compared) |
+| `start` | the contract was written (or an existing one kept); no page is written | the URDF/SDF could not be parsed, or the contract could not be read or written | — | — |
+
+`NOT SCORED` (exit 3) means no comparison had both operands: it is not a pass and not a failure.
+
+The `scored N: …` line above the verdict is where a script should look.
+`lockwire check --strict` makes a `GO with notes` run exit 1 (the `NO-GO` code); the table does not change.
+
+## In CI
+
+```yaml
+- uses: actions/checkout@v4
+- uses: Shivansh2703/lockwire@v0        # composite action: installs lockwire, runs the check, uploads an HTML report
+  with:
+    contract: lockwire.yaml
+```
+
+Inputs: `contract` (default `lockwire.yaml`), `version` (pin a PyPI release; default installs the action's own code), `strict` (default `false`; `true` passes `--strict`), `python-version` (default 3.12).
+Or just `pipx install lockwire && lockwire check lockwire.yaml`.
+
+## Pre-commit
+
+```yaml
+repos:
+  - repo: https://github.com/Shivansh2703/lockwire
+    rev: v0.2.3
+    hooks:
+      - id: lockwire-check
+```
+
+Runs `lockwire check` (on `lockwire.yaml` in the repo root) whenever a lockfile changes.
+
+## What it checks
+
+Each check compares **two separately declared figures**, each with its own provenance line.
+It shows who said what; it cannot verify that a datasheet is true.
+
+| check | source A | source B |
+|---|---|---|
+| rail power budget | device draw (datasheet) | rail capacity (power module datasheet) |
+| rail tree rollup | child rail draw / efficiency | parent rail capacity |
+| torque budget | joint effort limit (URDF) | actuator continuous torque x gear ratio |
+| bus bandwidth | message rate x payload | bus bitrate x utilisation ceiling |
+| mass budget | per-device mass | declared total |
+| endurance | pack energy | summed draw |
+| voltage compatibility | rail voltage | device input voltage range |
+| reference integrity | every `bus_ref`, `mount_frame`, dependency edge | the thing it points at |
+
+No physics simulation, no machine learning, no network. The answer is the same twice.
+
+## Free and Pro
+
+- **Free forever (this repo):** the lockfile, all deterministic checks including
+  power/thermal/bus/link/torque budgets, edit / describe / plan / what-if, the MCP server, the
+  HTML report, and the desktop planning app (Open, Design, Declare, Plan, Check).
+- **Lockwire Pro** is the paid tier (powered-on preflight, recording analysis).
+
+## Development
+
+See [CONTRIBUTING.md](CONTRIBUTING.md). Python 3.12 or newer; runtime dependencies are
+pydantic, typer, rich, ruamel.yaml and numpy.
+
+## Licence
+
+Apache-2.0. See [LICENSE](LICENSE).

{lockwire-0.2.0 → lockwire-0.2.4}/pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "lockwire"
-version = "0.2.0"
-description = "The physical-assumption contract for robots: physics lockfile + preflight gate"
+version = "0.2.4"
+description = "The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up"
 readme = "README.md"
 authors = [
     { name = "Shivansh" }
@@ -26,13 +26,15 @@ dependencies = [
     "rich>=15.0.0",
     "ruamel-yaml>=0.19.1",
     "typer>=0.26.8",
+    "xacro>=2.1.1",
 ]
 
 [project.optional-dependencies]
 # Serving lockwire over MCP to an agent. Optional for the same reason as `ros2bag`:
 # a plain install must stay lean, and the SDK is only needed by `lockwire mcp`.
 mcp = [
-    "mcp>=2.1.1",
+    "mcp>=2.2.0",
+    "pyjwt>=2.15",  # direct floor: a fresh lock must not resolve below the fixed release
 ]
 # The Electron app's sidecar: `lockwire serve` over local HTTP. Optional for the
 # same reason as `desktop`/`ros2bag`/`mcp` — a plain CLI install stays lean; only the
@@ -59,7 +61,7 @@ build-backend = "uv_build"
 
 [dependency-groups]
 dev = [
-    "mcp>=2.1.1",
+    "mcp>=2.2.0",
     # tests/test_serve.py needs the sidecar (`lockwire serve`) importable and
     # runnable as a subprocess. Same reasoning as `mcp`/`mcap` above: CI's
     # `test` job runs a plain `uv sync --dev`, so without these here that

{lockwire-0.2.0 → lockwire-0.2.4}/src/lockwire/__init__.py

@@ -1,6 +1,6 @@
 """Lockwire — the physical-assumption contract for robots, enforced in CI and at preflight."""
 
-__version__ = "0.2.0"
+__version__ = "0.2.4"
 
 
 def main() -> None:

lockwire-0.2.4/src/lockwire/_filelock.py

@@ -0,0 +1,38 @@
+"""Blocking exclusive lock on an open fd, POSIX and Windows, stdlib only."""
+
+from __future__ import annotations
+
+import os
+import time
+
+
+def lock(fd: int) -> None:
+    if os.name == "nt":
+        import msvcrt
+
+        os.lseek(fd, 0, os.SEEK_SET)
+        deadline = time.monotonic() + 30
+        while True:
+            try:
+                msvcrt.locking(fd, msvcrt.LK_NBLCK, 1)
+                return
+            except OSError:
+                if time.monotonic() >= deadline:
+                    raise TimeoutError("lock held by another lockwire process") from None
+                time.sleep(0.1)
+    else:
+        import fcntl
+
+        fcntl.flock(fd, fcntl.LOCK_EX)
+
+
+def unlock(fd: int) -> None:
+    if os.name == "nt":
+        import msvcrt
+
+        os.lseek(fd, 0, os.SEEK_SET)
+        msvcrt.locking(fd, msvcrt.LK_UNLCK, 1)
+    else:
+        import fcntl
+
+        fcntl.flock(fd, fcntl.LOCK_UN)