openrois-components-core 0.1.0a1__tar.gz

openrois_components_core-0.1.0a1/.gitignore

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openrois_components_core-0.1.0a1/CHANGELOG.md

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+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/2.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+## [0.1.0a1] - 2026-11-05
+
+### Added
+
+- `Component`, the base class of a RoIS HRI Component, with its parameters, `emit` from any thread, and `connect()` and `disconnect()` for its backend.
+- `@component(profile)`, which declares the component type and checks every handler against the profile when the class is defined.
+- `@invoke`, `@query` and `@subscribe`, whose handlers take arguments and return results by name. `CommandFailed` ends a command with the status it names.
+- The RoIS_Common commands, which the engine answers by default. A handler adds to the default.
+- `@on_set_parameter`, the hook that applies new parameter values or refuses them.
+- `Resource`, something several components of one adapter share, opened and closed by the engine.
+- `raise_status` and `clear_status` on a component and on a resource, safe from any thread.
+- `RclpyExecutor`, in `openrois.components.core.ros2`, the one rclpy executor of an adapter.
+- `self.engine_state()`, the status of the engine that hosts the component.
+- `EngineBinding` and the `rois_` methods of `Component`, the side an engine calls to host a component.
+- Type information for every public name (`py.typed`).
+- `openrois-interfaces` 0.1.0a5 or later is required, because the SDK reads the `arguments` of query and event profiles, which that release introduced.
+
+[unreleased]: https://github.com/openrois/openrois/compare/components-core-v0.1.0-alpha.1...HEAD
+[0.1.0a1]: https://github.com/openrois/openrois/releases/tag/components-core-v0.1.0-alpha.1

openrois_components_core-0.1.0a1/LICENSE

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+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
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+   6. Trademarks. This License does not grant permission to use the trade
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+      whether in tort (including negligence), contract, or otherwise,
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+      negligent acts) or agreed to in writing, shall any Contributor be
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openrois_components_core-0.1.0a1/NOTICE

@@ -0,0 +1,7 @@
+OpenRoIS
+Copyright 2026 Coarobo GK
+
+OpenRoIS is developed by Coarobo GK (https://coarobo.com/)
+and the OpenRoIS community (https://openrois.org/).
+
+OpenRoIS is a trademark of Coarobo GK.

openrois_components_core-0.1.0a1/PKG-INFO

@@ -0,0 +1,221 @@
+Metadata-Version: 2.5
+Name: openrois-components-core
+Version: 0.1.0a1
+Summary: OpenRoIS component SDK: write a RoIS HRI Component as a Python class
+Project-URL: Homepage, https://openrois.org/
+Project-URL: Repository, https://github.com/openrois/openrois
+Project-URL: Bug-Tracker, https://github.com/openrois/openrois/issues
+Author: OpenRoIS Community
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Keywords: hri,middleware,omg,robotics,rois
+Classifier: Development Status :: 3 - Alpha
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Requires-Python: >=3.12
+Requires-Dist: openrois-interfaces>=0.1.0a5
+Provides-Extra: dev
+Requires-Dist: mypy>=1.8; extra == 'dev'
+Requires-Dist: openrois-engine>=0.1.0a1; extra == 'dev'
+Requires-Dist: pytest-asyncio>=1.0; extra == 'dev'
+Requires-Dist: pytest>=8.4; extra == 'dev'
+Requires-Dist: ruff>=0.4; extra == 'dev'
+Description-Content-Type: text/markdown
+
+# openrois-components-core
+
+![Python](https://img.shields.io/badge/Python-3.12+-3776AB?logo=python&logoColor=white)
+
+The OpenRoIS component SDK: write a RoIS HRI Component as a Python class. A component
+declares the RoIS type it implements, marks the messages it supports, and talks to its
+robot, avatar or AI service in its own code. The engine that hosts it stores its
+parameters, answers `component_status`, tracks its commands and serves the part of the
+profile it implements.
+
+This is what an adapter author imports. It has no transport and no robot in it, and it
+depends on [`openrois-interfaces`](https://github.com/openrois/openrois/blob/dev/interfaces/python/README.md) only.
+
+## Install
+
+Alpha, pre-1.0, unstable API.
+
+```bash
+pip install openrois-components-core
+```
+
+Or from a clone of the repository:
+
+```bash
+pip install -e ./components/core
+```
+
+Components run in an engine,
+[`openrois-engine`](https://github.com/openrois/openrois/blob/dev/engine/README.md):
+
+```bash
+pip install openrois-engine
+```
+
+## Write a Component
+
+```python
+from openrois.components.core import CommandFailed, Component, component, invoke, subscribe
+from openrois.interfaces.components import NAVIGATION_PROFILE
+from openrois.interfaces.service import CompletedStatus
+
+
+@component(NAVIGATION_PROFILE)
+class Navigation(Component):
+    def __init__(self, robot_url: str) -> None:
+        self._robot_url = robot_url
+
+    async def connect(self) -> None:
+        self._robot = await MyRobotClient.open(self._robot_url)
+
+    async def disconnect(self) -> None:
+        await self._robot.close()
+
+    @invoke("start")
+    async def start(self) -> dict[str, object]:
+        target = self.parameters["target_positions"][0]
+        if not await self._robot.knows(target):
+            raise CommandFailed(CompletedStatus.ERROR, f"unknown place {target}")
+        await self._robot.go_to(target)  # the command runs until the robot arrives
+        self.emit("reached_target", target=target, is_final_target=True)
+        return {}
+
+    @invoke("stop")
+    async def stop(self) -> None:
+        await self._robot.halt()
+
+    @subscribe("reached_target")
+    async def reached_target(self) -> None:
+        pass  # start emits the event when the robot arrives.
+```
+
+**The profile.** `@component` takes the profile of the component type. For a basic RoIS
+component, pass its constant from `openrois.interfaces.components`, for example
+`NAVIGATION_PROFILE`. For a type of your own, pass a full `HRIComponentProfile`. A
+handler for a message the profile does not define fails when the class is defined.
+
+**What the engine serves.** A component may implement a part of its type. The engine
+serves the commands, queries and events the class has handlers for, and
+`component_status`, which the engine answers itself. A type that includes RoISCommon,
+as every basic type but SystemInformation does, always serves `start`, `stop`, `suspend`
+and `resume`, with or without handlers, and a type of your own without it serves `stop`
+when the class handles `start`. The class above serves `start`, `stop`, `suspend`,
+`resume`, `component_status` and `reached_target`, and a client never sees a button for
+a message the component does not answer.
+
+**RoIS_Common.** The engine answers the four RoIS_Common commands by default. `stop`
+cancels the running `start`, which ends with ABORT. `suspend` holds the component's
+later commands in the engine, except `set_parameter`, and drops its events, and `resume`
+releases both. On a component not started, the three complete OK and run no handler. A
+handler for any of them adds to the default and never replaces it: write one when the
+function needs more, such as pausing a detector's watcher.
+
+**Commands.** A command handler runs for as long as the command lasts, and the engine
+reports the end with `rois.command.completed`. Returning ends the command with OK, and the
+returned values become the results that `get_command_result` reads. Raising
+`CommandFailed` ends it with the status it names, and any other exception with ERROR. A
+`stop`, or a new `start`, runs the `stop` handler and then cancels the running `start`,
+which ends with ABORT. Release the backend in a `finally` block if the handler needs to.
+
+**Arguments and results.** A command handler takes the arguments of its command by name,
+converted from their profile types. Command and query handlers return the values of their
+results by name, and the SDK writes each value in the form its profile type takes on the
+wire, so names and types come from the profile.
+
+**Parameters.** `self.parameters` holds the current values, converted from their profile
+types: a `string[]` parameter reads as a list. The engine stores them, fills them from the
+profile defaults and answers `get_parameter`. To apply new values to the backend, or to
+refuse them, mark a method with `@on_set_parameter`:
+
+```python
+    @on_set_parameter
+    async def apply(self, values: Mapping[str, Any]) -> None:
+        if "routing_policy" in values:
+            await self._robot.set_policy(values["routing_policy"])
+```
+
+Raising refuses the values, and the engine keeps the old ones.
+
+**Events.** `@subscribe` marks an event the component emits. Its method runs on each new
+subscription, for example to start a detector, and may do nothing. `self.emit` sends an
+event with its results by name, and is safe to call from any thread, for example a ROS 2
+callback.
+
+**Arguments of queries and events.** Some queries and events take arguments, such as the
+`stream_id` of `get_stream_status` and `notify_stream_status`. A client gives them in the
+condition, and the handler and the `@subscribe` method take them by name. An event about
+one stream names its values when it is emitted, so it reaches the subscriptions for that
+stream only:
+
+```python
+    self.emit("notify_stream_status", concerning={"stream_id": stream_id}, status=status)
+```
+
+**Status.** A component reports trouble with `self.raise_status(ComponentStatus.WARNING,
+"The battery is low.")` or with ERROR, and withdraws it with `self.clear_status()`. Clients
+see it in `component_status` and receive `rois.system.notify_error`. While ERROR is
+raised, the engine refuses the component's commands and queries. Both methods are safe to
+call from any thread.
+
+**Shared resources.** A connection that several components of one adapter share, such as
+one robot SDK client, is a `Resource`. The adapter builds it and hands it to each
+component, which records it with `self.uses(resource)`. The engine opens it before the
+first of them connects and closes it after the last one disconnects, and a status the
+resource raises reaches every component that uses it:
+
+```python
+class RobotConnection(Resource):
+    async def open(self) -> None:
+        self.client = RobotClient(self._host)
+
+    async def close(self) -> None:
+        await self.client.disconnect()
+
+
+@component(SPEECH_SYNTHESIS_PROFILE)
+class Speech(Component):
+    def __init__(self, robot: RobotConnection) -> None:
+        self._robot = self.uses(robot)
+```
+
+## API
+
+| Name | Purpose |
+|------|---------|
+| `Component` | Base class of a component: `parameters`, `emit`, `ref`, `connect()`, `disconnect()`, `uses`, `raise_status`, `clear_status`, `engine_state` |
+| `Resource` | Base class of what several components share: `open()`, `close()`, `raise_status`, `clear_status` |
+| `@component(profile)` | Declare the component type, checked against the handlers |
+| `@invoke(command_type)` | Mark the handler of a command |
+| `@query(query_type)` | Mark the handler of a query |
+| `@subscribe(event_type)` | Mark an event the component emits, with a method run on each subscription |
+| `@on_set_parameter` | Mark the hook that applies new parameter values |
+| `CommandFailed(status)` | End a command with ERROR, ABORT, OUT_OF_RESOURCES or TIMEOUT |
+| `EngineBinding` | What a component needs from the engine that hosts it |
+
+The methods whose names start with `rois_` are called by the engine, not by component
+authors.
+
+## Test
+
+```bash
+pip install -e "./components/core[dev]"
+cd components/core && pytest && mypy && ruff check src/ tests/
+```
+
+## Status
+
+Alpha, pre-1.0, unstable API. The engine that hosts components written with this SDK,
+`openrois-engine`, answers the RoIS method catalog with the behavior of CP1 to CP3. A
+hook for the moment a component loses its last bind is planned. The Reachy Mini
+adapter, [openrois-adapter-reachy-mini](https://github.com/openrois/openrois-adapter-reachy-mini),
+is a complete example of components written with this SDK.
+
+## License
+
+Apache-2.0.