pycyphal2 2.0.0.dev0__tar.gz → 2.0.0.dev2__tar.gz

{pycyphal2-2.0.0.dev0/src/pycyphal2.egg-info → pycyphal2-2.0.0.dev2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pycyphal2
-Version: 2.0.0.dev0
+Version: 2.0.0.dev2
 Summary: Pure-Python implementation of Cyphal -- a simple and robust real-time publish/subscribe stack that runs anywhere.
 Author-email: Pavel Kirienko and OpenCyphal team <pavel@opencyphal.org>
 License: MIT
@@ -38,6 +38,7 @@ _pub/sub without steroids_
 
 [![Website](https://img.shields.io/badge/website-opencyphal.org-black?color=1700b3)](https://opencyphal.org/)
 [![Forum](https://img.shields.io/discourse/https/forum.opencyphal.org/users.svg?logo=discourse&color=1700b3)](https://forum.opencyphal.org)
+[![PyPI](https://img.shields.io/pypi/v/pycyphal2.svg)](https://pypi.org/project/pycyphal2/)
 [![Docs](https://img.shields.io/badge/Docs-rtfm-black?color=ff00aa&logo=readthedocs)](https://opencyphal.github.io/pycyphal)
 
 </div>
@@ -46,12 +47,10 @@ _pub/sub without steroids_
 
 Python implementation of the [Cyphal](https://opencyphal.org) stack that runs on GNU/Linux, Windows, and macOS.
 
-Install as follows.
-Optional features inside the brackets can be removed if not needed; see `pyproject.toml` for the full list:
-
-```
-pip install pycyphal2[udp,pythoncan]
-```
+PyCyphal v2 is published on PyPI as `pycyphal2` to enable coexistence with v1 `pycyphal` in the same Python environment.
+The two packages have radically different APIs but are wire-compatible on Cyphal/CAN.
+The maintenance of the original `pycyphal` package will eventually cease;
+existing applications leveraging `pycyphal` should upgrade to the new API of `pycyphal2`.
 
 📚 **Read the docs** at <https://opencyphal.github.io/pycyphal>.
 

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/README.md

@@ -8,6 +8,7 @@ _pub/sub without steroids_
 
 [![Website](https://img.shields.io/badge/website-opencyphal.org-black?color=1700b3)](https://opencyphal.org/)
 [![Forum](https://img.shields.io/discourse/https/forum.opencyphal.org/users.svg?logo=discourse&color=1700b3)](https://forum.opencyphal.org)
+[![PyPI](https://img.shields.io/pypi/v/pycyphal2.svg)](https://pypi.org/project/pycyphal2/)
 [![Docs](https://img.shields.io/badge/Docs-rtfm-black?color=ff00aa&logo=readthedocs)](https://opencyphal.github.io/pycyphal)
 
 </div>
@@ -16,12 +17,10 @@ _pub/sub without steroids_
 
 Python implementation of the [Cyphal](https://opencyphal.org) stack that runs on GNU/Linux, Windows, and macOS.
 
-Install as follows.
-Optional features inside the brackets can be removed if not needed; see `pyproject.toml` for the full list:
-
-```
-pip install pycyphal2[udp,pythoncan]
-```
+PyCyphal v2 is published on PyPI as `pycyphal2` to enable coexistence with v1 `pycyphal` in the same Python environment.
+The two packages have radically different APIs but are wire-compatible on Cyphal/CAN.
+The maintenance of the original `pycyphal` package will eventually cease;
+existing applications leveraging `pycyphal` should upgrade to the new API of `pycyphal2`.
 
 📚 **Read the docs** at <https://opencyphal.github.io/pycyphal>.
 

pycyphal2-2.0.0.dev2/src/pycyphal2/__init__.py

@@ -0,0 +1,167 @@
+"""
+[Cyphal](https://opencyphal.org) in Python —
+decentralized real-time pub/sub with tunable reliability, service discovery, and zero configuration.
+Works anywhere, [including baremetal MCUs](https://github.com/OpenCyphal-Garage/cy).
+
+Supports various transports such as Ethernet (UDP) and CAN FD with optional redundancy.
+
+## Installation
+
+Optional features inside the brackets can be removed if not needed; see `pyproject.toml` for the full list:
+
+```
+pip install 'pycyphal2[udp,pythoncan]'
+```
+
+## Usage
+
+Set up a transport, make a node, publish and subscribe:
+
+```python
+import asyncio
+from pycyphal2 import Node, Instant
+from pycyphal2.udp import UDPTransport
+
+async def main():
+    node = Node.new(UDPTransport.new(), "my_node")
+
+    pub = node.advertise("sensor/temperature")
+    await pub(Instant.now() + 1.0, b"21.5")
+
+    sub = node.subscribe("sensor/temperature")
+    async for arrival in sub:
+        print(arrival.message)
+
+if __name__ == "__main__":
+    asyncio.run(main())
+```
+
+All public symbols live at the top level — just `import pycyphal2`.
+Transport modules (`pycyphal2.udp`, `pycyphal2.can`) are imported separately
+so that only the needed dependencies are pulled in.
+
+### Name resolution
+
+The topic naming system shares many similarities with ROS.
+A valid name contains printable ASCII characters except space (ASCII codes [33, 126]).
+Normalized names do not have leading or trailing segment separators `/` and do not have consecutive separators.
+Every node should have a unique name, which is called its *home*; home substitution is done via `~/`.
+
+| Input name        | Namespace | Home | Remap              | Resolved name         | Note                             |
+| ----------------- | --------- | ---- | ------------------ | --------------------- | -------------------------------- |
+| `foo/bar`         | `ns`      | `me` |                    | `ns/foo/bar`          | Relative name                    |
+| `/foo//bar/`      | `ns`      | `me` |                    | `foo/bar`             | Absolute name; namespace ignored |
+| `~/foo/bar`       | `ns`      | `me` |                    | `me/foo/bar`          | Homeful name                     |
+| `sensor/*/temp`   | `diag`    | `me` |                    | `diag/sensor/*/temp`  | Pattern with `*`                 |
+| `/sensor/>`       | `diag`    | `me` |                    | `sensor/>`            | Pattern with trailing `>`        |
+| `foo/bar`         | `ns`      | `me` | `foo/bar=~/zoo`    | `me/zoo`              | Remap first, then resolve        |
+
+Only exact `~` or `~/...` is homeful; `~ns` is literal. A matching remap overrides pinning.
+Pins are allowed only on verbatim names, not on patterns.
+
+Environment variables that control name remapping:
+
+- `CYPHAL_NAMESPACE` — default namespace prepended to relative topic names.
+- `CYPHAL_REMAP` — topic name remappings (`from=to` pairs, whitespace-separated).
+
+See also :meth:`Node.remap`.
+
+### Publish
+
+Publication is best-effort by default. Pass `reliable=True` when publishing to retry delivery until
+acknowledged by every known subscriber or until the deadline; if the remote side does not acknowledge in time,
+:class:`DeliveryError` is raised.
+
+```python
+pub = node.advertise("sensor/temperature")
+await pub(Instant.now() + 1.0, b"payload", reliable=True)
+```
+
+### Subscribe
+
+Subscriptions normally yield messages as soon as they arrive. Set `reordering_window` [seconds] on
+:meth:`Node.subscribe` to allow delaying out-of-order messages to reconstruct the original publication order.
+This is useful for sensor feeds and state estimators.
+
+```python
+sub = node.subscribe("sensor/temperature", reordering_window=0.1)
+```
+
+Pattern matching is supported: use `*` to match one name segment (e.g., `sensor/*/temperature`)
+and a trailing `>` to match zero or more trailing segments (e.g., `sensor/>`).
+Pattern subscribers automatically join matching topics as they appear, and unsubscribe as they disappear.
+
+```python
+sub = node.subscribe("sensor/*/temperature")
+async for arrival in sub:
+    topic = arrival.breadcrumb.topic
+    captures = sub.substitutions(topic)
+    print(topic.name, captures)  # [('engine', 1)], where 1 is the pattern segment index
+```
+
+### RPC & streaming
+
+RPC is layered directly on top of pub/sub. Use :meth:`Publisher.request` to publish a message that expects
+responses, and use :attr:`Arrival.breadcrumb` on the subscriber side to send a unicast reply back to the requester.
+One request may yield responses from multiple subscribers.
+
+```python
+stream = await pub.request(Instant.now() + 1.0, 0.5, b"read")
+async for response in stream:
+    print(response.message)
+```
+
+Streaming is just repeated replying on the same breadcrumb. The requester consumes such replies through
+:class:`ResponseStream`; each responder numbers its own responses from zero upward.
+
+```python
+await arrival.breadcrumb(Instant.now() + 1.0, b"chunk-1", reliable=True)
+await arrival.breadcrumb(Instant.now() + 1.0, b"chunk-2", reliable=True)
+```
+
+### Topic pinning
+
+Topics may be pinned to a specific subject-ID using `name#1234` to bypass automatic assignment.
+This is useful for applications where a high degree of determinism is required and for Cyphal/CAN v1.0 interoperability.
+Pattern names (e.g., `sensor/*/temperature/>`) cannot be pinned.
+
+To join a Cyphal/CAN v1.0 subject, use topic name of the form `subject_id#subject_id`; e.g., `7509#7509`.
+
+```python
+pub = node.advertise("motor/status#1234")
+sub = node.subscribe("1234#1234")
+```
+
+Old Cyphal/CAN v1.0 nodes do not participate in the topic discovery protocol,
+so topics joined only by such nodes are not discoverable by pattern subscribers.
+
+## Remarks
+
+Cyphal does not define a serialization format. Previous versions used to define the DSDL format but it has been
+extracted into an independent project, and Cyphal was made serialization-agnostic in v1.1+.
+
+PyCyphal v2 is published on PyPI as [`pycyphal2`](https://pypi.org/project/pycyphal2/)
+to enable coexistence with the original [`pycyphal` v1](https://pypi.org/project/pycyphal/)
+in the same Python environment.
+The two packages have radically different APIs but are wire-compatible on Cyphal/CAN.
+The maintenance of the original `pycyphal` package will eventually cease;
+existing applications leveraging `pycyphal` should upgrade to the new API of `pycyphal2`.
+"""
+
+from __future__ import annotations
+
+from ._api import *
+from ._transport import SubjectWriter as SubjectWriter
+from ._transport import Transport as Transport
+from ._transport import TransportArrival as TransportArrival
+
+__version__ = "2.0.0.dev2"
+
+# pdoc needs __all__ to display re-exported members.
+__all__ = [
+    _k
+    for _k, _v in vars().items()
+    if not _k.startswith("_")
+    and _k not in {"annotations", "TYPE_CHECKING"}
+    and (getattr(_v, "__module__", None) or "").startswith(__name__)
+]

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/src/pycyphal2/_api.py

@@ -131,7 +131,6 @@ class Closable(ABC):
 class Topic(ABC):
     """
     Topics are managed automatically by the library, created and destroyed as necessary.
-    This is just a compact view to expose some auxiliary information.
     """
 
     @property
@@ -144,6 +143,16 @@ class Topic(ABC):
     def name(self) -> str:
         raise NotImplementedError
 
+    @property
+    @abstractmethod
+    def evictions(self) -> int:
+        raise NotImplementedError
+
+    @abstractmethod
+    def subject_id(self, modulus: int) -> int:
+        """The modulus can be obtained from :attr:`Transport.subject_id_modulus`."""
+        raise NotImplementedError
+
     @abstractmethod
     def match(self, pattern: str) -> list[tuple[str, int]] | None:
         """
@@ -475,6 +484,11 @@ class Node(Closable, ABC):
     def namespace(self) -> str:
         raise NotImplementedError
 
+    @property
+    @abstractmethod
+    def transport(self) -> Transport:
+        raise NotImplementedError
+
     @abstractmethod
     def remap(self, spec: str | dict[str, str]) -> None:
         """

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/src/pycyphal2/_node.py

@@ -306,6 +306,7 @@ class _TopicFlyweight(Topic):
 
     _topic_hash: int
     _name: str
+    _evictions: int
 
     @property
     def hash(self) -> int:
@@ -315,6 +316,13 @@ class _TopicFlyweight(Topic):
     def name(self) -> str:
         return self._name
 
+    @property
+    def evictions(self) -> int:
+        return self._evictions
+
+    def subject_id(self, modulus: int) -> int:
+        return compute_subject_id(self._topic_hash, self._evictions, modulus)
+
     def match(self, pattern: str) -> list[tuple[str, int]] | None:
         return match_pattern(pattern, self._name)
 
@@ -364,7 +372,7 @@ class TopicImpl(Topic):
         self._node = node
         self._name = name
         self._topic_hash = rapidhash(name)
-        self.evictions = evictions
+        self._evictions = evictions
         self.ts_origin = now
         self.ts_animated = now
         self._pub_tag_baseline = int.from_bytes(os.urandom(8), "little")
@@ -392,14 +400,20 @@ class TopicImpl(Topic):
     def name(self) -> str:
         return self._name
 
+    @property
+    def evictions(self) -> int:
+        return self._evictions
+
+    def set_evictions(self, evictions: int) -> None:
+        self._evictions = evictions
+
+    def subject_id(self, modulus: int) -> int:
+        return compute_subject_id(self._topic_hash, self._evictions, modulus)
+
     def match(self, pattern: str) -> list[tuple[str, int]] | None:
         return match_pattern(pattern, self._name)
 
     # -- Internal --
-    @property
-    def subject_id(self) -> int:
-        return compute_subject_id(self._topic_hash, self.evictions, self._node.transport.subject_id_modulus)
-
     def lage(self, now: float) -> int:
         return log_age(self.ts_origin, now)
 
@@ -426,14 +440,14 @@ class TopicImpl(Topic):
 
     def ensure_writer(self) -> SubjectWriter:
         if self.pub_writer is None:
-            sid = self.subject_id
+            sid = self.subject_id(self._node.transport.subject_id_modulus)
             self.pub_writer = self._node.acquire_subject_writer(self, sid)
             _logger.info("Writer acquired for '%s' sid=%d", self._name, sid)
         return self.pub_writer
 
     def ensure_listener(self) -> None:
         if self.sub_listener is None and self.couplings:
-            sid = self.subject_id
+            sid = self.subject_id(self._node.transport.subject_id_modulus)
             self.sub_listener = self._node.acquire_subject_listener(self, sid)
             _logger.info("Listener acquired for '%s' sid=%d", self._name, sid)
 
@@ -441,12 +455,12 @@ class TopicImpl(Topic):
         if self.couplings:
             self.ensure_listener()
         elif self.sub_listener is not None:
-            self._node.release_subject_listener(self, self.subject_id)
+            self._node.release_subject_listener(self, self.subject_id(self._node.transport.subject_id_modulus))
             self.sub_listener = None
             _logger.info("Listener released for '%s'", self._name)
 
     def release_transport_handles(self) -> None:
-        sid = self.subject_id
+        sid = self.subject_id(self._node.transport.subject_id_modulus)
         if self.pub_writer is not None:
             self._node.release_subject_writer(self, sid)
             self.pub_writer = None
@@ -487,7 +501,7 @@ def left_wins(l_lage: int, l_hash: int, r_lage: int, r_hash: int) -> bool:
 
 class NodeImpl(Node):
     def __init__(self, transport: Transport, *, home: str, namespace: str) -> None:
-        self.transport = transport
+        self._transport = transport
         self._home = home
         self._namespace = namespace
         self._remaps: dict[str, str] = {}
@@ -555,6 +569,10 @@ class NodeImpl(Node):
     def namespace(self) -> str:
         return self._namespace
 
+    @property
+    def transport(self) -> Transport:
+        return self._transport
+
     def remap(self, spec: str | dict[str, str]) -> None:
         if isinstance(spec, str):
             spec = dict(x.split("=", 1) for x in spec.split() if "=" in x)
@@ -573,7 +591,12 @@ class NodeImpl(Node):
         topic.pub_count += 1
         topic.sync_implicit()
         topic.ensure_writer()
-        _logger.info("Advertise '%s' -> '%s' sid=%d", name, resolved, topic.subject_id)
+        _logger.info(
+            "Advertise '%s' -> '%s' sid=%d",
+            name,
+            resolved,
+            topic.subject_id(self.transport.subject_id_modulus),
+        )
         return PublisherImpl(self, topic)
 
     def subscribe(self, name: str, *, reordering_window: float | None = None) -> Subscriber:
@@ -662,29 +685,34 @@ class NodeImpl(Node):
             self.couple_topic_root(topic, root)
         topic.sync_listener()
         self.notify_implicit_gc()
-        _logger.info("Topic created '%s' hash=%016x sid=%d", name, topic.hash, topic.subject_id)
+        _logger.info(
+            "Topic created '%s' hash=%016x sid=%d",
+            name,
+            topic.hash,
+            topic.subject_id(self.transport.subject_id_modulus),
+        )
         return topic
 
     def topic_allocate(self, topic: TopicImpl, new_evictions: int, now: float) -> None:
         """Iterative subject-ID allocation with collision resolution. Mirrors topic_allocate() in cy.c."""
         # Work queue: list of (topic, new_evictions) pairs to process.
+        modulus = self.transport.subject_id_modulus
         work: list[tuple[TopicImpl, int]] = [(topic, new_evictions)]
         while work:
             t, ev = work.pop(0)
             # Remove from subject-ID index first.
-            old_sid = t.subject_id
+            old_sid = t.subject_id(modulus)
             if old_sid in self.topics_by_subject_id and self.topics_by_subject_id[old_sid] is t:
                 del self.topics_by_subject_id[old_sid]
 
             if ev >= EVICTIONS_PINNED_MIN:
                 # Pinned topic: no collision detection, shared subject-IDs are fine.
                 t.release_transport_handles()
-                t.evictions = ev
+                t.set_evictions(ev)
                 t.sync_listener()
                 self.schedule_gossip_urgent(t)
                 continue
 
-            modulus = self.transport.subject_id_modulus
             new_sid = compute_subject_id(t.hash, ev, modulus)
             collider = self.topics_by_subject_id.get(new_sid)
 
@@ -694,14 +722,14 @@ class NodeImpl(Node):
             if collider is None:
                 # No collision, install.
                 t.release_transport_handles()
-                t.evictions = ev
+                t.set_evictions(ev)
                 self.topics_by_subject_id[new_sid] = t
                 t.sync_listener()
                 self.schedule_gossip_urgent(t)
             elif left_wins(t.lage(now), t.hash, collider.lage(now), collider.hash):
                 # Our topic wins: take the slot, evict the collider.
                 t.release_transport_handles()
-                t.evictions = ev
+                t.set_evictions(ev)
                 del self.topics_by_subject_id[new_sid]
                 self.topics_by_subject_id[new_sid] = t
                 if collider.pub_writer is not None:
@@ -1293,7 +1321,7 @@ class NodeImpl(Node):
             self._notify_monitors(topic)
         else:
             self.on_gossip_unknown(hdr.topic_hash, hdr.topic_evictions, hdr.topic_log_age, ts)
-            self._notify_monitors(_TopicFlyweight(hdr.topic_hash, name))
+            self._notify_monitors(_TopicFlyweight(hdr.topic_hash, name, hdr.topic_evictions))
 
     def on_gossip_known(
         self,
@@ -1430,7 +1458,7 @@ class NodeImpl(Node):
             self.decouple_topic_root(topic, topic.couplings[0].root, sync_lifecycle=False)
         self.topics_by_name.pop(name, None)
         self.topics_by_hash.pop(topic.hash, None)
-        sid = topic.subject_id
+        sid = topic.subject_id(self.transport.subject_id_modulus)
         if self.topics_by_subject_id.get(sid) is topic:
             del self.topics_by_subject_id[sid]
         topic.associations.clear()

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/src/pycyphal2/can/__init__.py

@@ -12,7 +12,7 @@ transport = CANTransport.new(SocketCANInterface("can0"))
 ```
 
 Python-CAN is useful when the application runs not on GNU/Linux or already uses `python-can` or needs
-`one of its *many* hardware backends <https://python-can.readthedocs.io/en/stable/interfaces.html>`_
+[one of its *many* hardware backends](https://python-can.readthedocs.io/en/stable/interfaces.html)
 -- GS-USB, SLCAN, PCAN, etc:
 
 ```python

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2/src/pycyphal2.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pycyphal2
-Version: 2.0.0.dev0
+Version: 2.0.0.dev2
 Summary: Pure-Python implementation of Cyphal -- a simple and robust real-time publish/subscribe stack that runs anywhere.
 Author-email: Pavel Kirienko and OpenCyphal team <pavel@opencyphal.org>
 License: MIT
@@ -38,6 +38,7 @@ _pub/sub without steroids_
 
 [![Website](https://img.shields.io/badge/website-opencyphal.org-black?color=1700b3)](https://opencyphal.org/)
 [![Forum](https://img.shields.io/discourse/https/forum.opencyphal.org/users.svg?logo=discourse&color=1700b3)](https://forum.opencyphal.org)
+[![PyPI](https://img.shields.io/pypi/v/pycyphal2.svg)](https://pypi.org/project/pycyphal2/)
 [![Docs](https://img.shields.io/badge/Docs-rtfm-black?color=ff00aa&logo=readthedocs)](https://opencyphal.github.io/pycyphal)
 
 </div>
@@ -46,12 +47,10 @@ _pub/sub without steroids_
 
 Python implementation of the [Cyphal](https://opencyphal.org) stack that runs on GNU/Linux, Windows, and macOS.
 
-Install as follows.
-Optional features inside the brackets can be removed if not needed; see `pyproject.toml` for the full list:
-
-```
-pip install pycyphal2[udp,pythoncan]
-```
+PyCyphal v2 is published on PyPI as `pycyphal2` to enable coexistence with v1 `pycyphal` in the same Python environment.
+The two packages have radically different APIs but are wire-compatible on Cyphal/CAN.
+The maintenance of the original `pycyphal` package will eventually cease;
+existing applications leveraging `pycyphal` should upgrade to the new API of `pycyphal2`.
 
 📚 **Read the docs** at <https://opencyphal.github.io/pycyphal>.
 

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_gossip.py

@@ -266,7 +266,7 @@ async def test_topic_destroy():
     topic = node.topics_by_name.get("to_destroy")
     assert topic is not None
     topic_hash = topic.hash
-    sid = topic.subject_id
+    sid = topic.subject_id(tr.subject_id_modulus)
 
     pub.close()  # Allow destroy.
     node.destroy_topic("to_destroy")
@@ -380,7 +380,7 @@ async def test_topic_collision_during_allocate():
 
     pub_a = node.advertise("/topic_alpha")
     topic_a = node.topics_by_name["topic_alpha"]
-    sid_a = topic_a.subject_id
+    sid_a = topic_a.subject_id(tr.subject_id_modulus)
 
     # Find a name that collides with topic_a's subject-ID.
     from pycyphal2._hash import rapidhash
@@ -394,7 +394,7 @@ async def test_topic_collision_during_allocate():
             pub_b = node.advertise(f"/{name}")
             topic_b = node.topics_by_name[name]
             # One of them should have been reallocated.
-            assert topic_a.subject_id != topic_b.subject_id
+            assert topic_a.subject_id(tr.subject_id_modulus) != topic_b.subject_id(tr.subject_id_modulus)
             pub_b.close()
             break
 

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_integration.py

@@ -47,6 +47,14 @@ async def test_node_creation_and_home():
     node.close()
 
 
+async def test_node_exposes_transport_property():
+    net = MockNetwork()
+    tr = MockTransport(node_id=1, network=net)
+    node = new_node(tr, home="my_home")
+    assert node.transport is tr
+    node.close()
+
+
 async def test_node_namespace():
     """Namespace should affect name resolution."""
     net = MockNetwork()
@@ -121,7 +129,7 @@ async def test_pinned_topic():
 
     pub = node.advertise("/my/topic#42")
     topic = list(node.topics_by_name.values())[0]
-    assert topic.subject_id == 42
+    assert topic.subject_id(tr.subject_id_modulus) == 42
     assert topic.evictions == 0xFFFFFFFF - 42
 
     pub.close()
@@ -348,7 +356,7 @@ async def test_remap_advertise_pinned():
     pub = node.advertise("my/topic")
     topic = list(node.topics_by_name.values())[0]
     assert topic.name == "ns/remapped"
-    assert topic.subject_id == 42
+    assert topic.subject_id(tr.subject_id_modulus) == 42
 
     pub.close()
     node.close()

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_monitor.py

@@ -115,6 +115,7 @@ async def test_monitor_implicit_topic_creation_reports_local_topic_instead_of_fl
 
 async def test_monitor_unknown_topic_uses_flyweight_with_wire_identity() -> None:
     node = new_node(MockTransport(node_id=1), home="n1")
+    modulus = node.transport.subject_id_modulus
 
     received: list[pycyphal2.Topic] = []
     node.monitor(received.append)
@@ -128,6 +129,8 @@ async def test_monitor_unknown_topic_uses_flyweight_with_wire_identity() -> None
     assert not isinstance(received[0], TopicImpl)
     assert received[0].hash == topic_hash
     assert received[0].name == name
+    assert received[0].evictions == 0
+    assert received[0].subject_id(modulus) == pycyphal2.SUBJECT_ID_PINNED_MAX + 1 + (topic_hash % modulus)
     assert received[0].match("sensor/*") == [("temp", 1)]
 
     node.close()
@@ -142,6 +145,7 @@ async def test_monitor_unknown_topic_uses_flyweight_with_wire_identity() -> None
 )
 async def test_monitor_unknown_topic_preserves_decoded_wire_name(name_bytes: bytes, expected_name: str) -> None:
     node = new_node(MockTransport(node_id=1), home="n1")
+    modulus = node.transport.subject_id_modulus
 
     received: list[pycyphal2.Topic] = []
     node.monitor(received.append)
@@ -154,6 +158,8 @@ async def test_monitor_unknown_topic_preserves_decoded_wire_name(name_bytes: byt
     assert len(received) == 1
     assert received[0].hash == 0xDEADBEEFCAFEBABE
     assert received[0].name == expected_name
+    assert received[0].evictions == 3
+    assert received[0].subject_id(modulus) == pycyphal2.SUBJECT_ID_PINNED_MAX + 1 + ((0xDEADBEEFCAFEBABE + 9) % modulus)
 
     node.close()
 
@@ -179,7 +185,7 @@ async def test_monitor_is_not_invoked_for_inline_gossip_on_message_reception() -
         ).serialize()
         + b"data",
     )
-    node.on_subject_arrival(topic.subject_id, arrival)
+    node.on_subject_arrival(topic.subject_id(node.transport.subject_id_modulus), arrival)
 
     assert received == []
 

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_parity.py

@@ -44,7 +44,7 @@ async def test_crdt_collision_older_topic_wins():
     # Create topic_a first (it will be older).
     pub_a = node.advertise("/topic_a")
     topic_a = node.topics_by_name["topic_a"]
-    sid_a = topic_a.subject_id
+    sid_a = topic_a.subject_id(tr.subject_id_modulus)
 
     # Search for a colliding name.
     modulus = tr.subject_id_modulus
@@ -66,7 +66,7 @@ async def test_crdt_collision_older_topic_wins():
     topic_b = node.topics_by_name[colliding_name]
 
     # topic_a should keep its subject-ID since it is older; topic_b should have been evicted.
-    assert topic_a.subject_id != topic_b.subject_id
+    assert topic_a.subject_id(tr.subject_id_modulus) != topic_b.subject_id(tr.subject_id_modulus)
     assert topic_b.evictions > 0  # loser got bumped
     assert topic_a.evictions == 0  # winner untouched
 
@@ -211,7 +211,7 @@ async def test_msg_header_merges_lage():
         remote_id=99,
         message=hdr.serialize() + b"payload",
     )
-    node.on_subject_arrival(topic.subject_id, arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
 
     # After merge, our lage should have increased to at least the remote's claim.
     merged_lage = topic.lage(time.monotonic())
@@ -375,7 +375,7 @@ async def test_best_effort_full_pipeline():
     await pub(pycyphal2.Instant.now() + 1.0, b"test_payload")
 
     # Verify the transport writer was invoked.
-    writer = tr.writers.get(topic.subject_id)
+    writer = tr.writers.get(topic.subject_id(tr.subject_id_modulus))
     assert writer is not None
     assert writer.send_count >= 1
 
@@ -443,7 +443,7 @@ async def test_pinned_topic_formula():
     for pin_val in [0, 1, 42, 100, SUBJECT_ID_PINNED_MAX]:
         pub = node.advertise(f"/pin_{pin_val}#{pin_val}")
         topic = node.topics_by_name[f"pin_{pin_val}"]
-        assert topic.subject_id == pin_val
+        assert topic.subject_id(tr.subject_id_modulus) == pin_val
         assert topic.evictions == 0xFFFFFFFF - pin_val
         pub.close()
 
@@ -462,8 +462,8 @@ async def test_multiple_pinned_topics_share_subject_id():
     topic_b = node.topics_by_name["beta"]
 
     # Both should have subject-ID 42.
-    assert topic_a.subject_id == 42
-    assert topic_b.subject_id == 42
+    assert topic_a.subject_id(tr.subject_id_modulus) == 42
+    assert topic_b.subject_id(tr.subject_id_modulus) == 42
     assert topic_a.pub_writer is topic_b.pub_writer
     assert tr.subject_writer_creations.get(42) == 1
 

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_reliable.py

@@ -160,7 +160,7 @@ async def test_reliable_publish_retry_rebuilds_writer_and_header_after_reallocat
     pub.priority = pycyphal2.Priority.EXCEPTIONAL
     pub.ack_timeout = 0.1
     topic = node.topics_by_name["topic"]
-    old_sid = topic.subject_id
+    old_sid = topic.subject_id(tr.subject_id_modulus)
     old_evictions = topic.evictions
     old_messages: list[TransportArrival] = []
     new_messages: list[TransportArrival] = []
@@ -189,7 +189,7 @@ async def test_reliable_publish_retry_rebuilds_writer_and_header_after_reallocat
     )
     node.on_subject_arrival(node.broadcast_subject_id, gossip_arrival)
 
-    new_sid = topic.subject_id
+    new_sid = topic.subject_id(tr.subject_id_modulus)
     assert new_sid != old_sid
     observer.subject_listen(new_sid, new_messages.append)
 
@@ -231,7 +231,7 @@ async def test_gossip_reallocation_to_occupied_subject_preserves_writer():
 
     pub_b = node.advertise(colliding_name)
     topic_b = node.topics_by_name[colliding_name.removeprefix("/")]
-    sid_b = topic_b.subject_id
+    sid_b = topic_b.subject_id(tr.subject_id_modulus)
     writer_b = expect_mock_writer(topic_b.pub_writer)
 
     now = pycyphal2.Instant.now().s
@@ -245,11 +245,11 @@ async def test_gossip_reallocation_to_occupied_subject_preserves_writer():
     remote_lage = topic_a.lage(now) + 1
     node.on_gossip_known(topic_a, remote_evictions, remote_lage, now, GossipScope.SHARDED)
 
-    assert topic_a.subject_id == sid_b
+    assert topic_a.subject_id(tr.subject_id_modulus) == sid_b
     assert topic_a.pub_writer is writer_b
     assert tr.subject_writer_creations.get(sid_b) == writer_creations_before == 1
     assert topic_b.pub_writer is None
-    assert topic_b.subject_id != sid_b
+    assert topic_b.subject_id(tr.subject_id_modulus) != sid_b
 
     send_count_before = writer_b.send_count
     await pub_a(pycyphal2.Instant.now() + 1.0, b"payload")
@@ -439,7 +439,7 @@ async def test_gossip_unknown_topic_collision():
 
     topic_a = node.topics_by_name.get("topic_a")
     assert topic_a is not None
-    old_sid = topic_a.subject_id
+    old_sid = topic_a.subject_id(tr.subject_id_modulus)
 
     # Craft a gossip from a different topic that happens to claim the same subject-ID.
     # Use a fake hash that maps to the same subject-ID with evictions=0.
@@ -469,7 +469,7 @@ async def test_gossip_unknown_topic_collision():
         node.on_subject_arrival(node.broadcast_subject_id, arrival)
         await asyncio.sleep(0.02)
         # Our topic should have been reallocated.
-        assert topic_a.subject_id != old_sid or topic_a.evictions > 0
+        assert topic_a.subject_id(tr.subject_id_modulus) != old_sid or topic_a.evictions > 0
 
     pub.close()
     node.close()
@@ -753,7 +753,7 @@ async def test_reliable_msg_sends_ack():
         remote_id=99,
         message=msg_data,
     )
-    node.on_subject_arrival(topic.subject_id, arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
 
     # Give ACK task time to run.
     await asyncio.sleep(0.02)
@@ -781,7 +781,8 @@ async def test_reliable_msg_wrong_subject_dropped():
 
     topic = list(node.topics_by_name.values())[0]
     subject_id_max = pycyphal2.SUBJECT_ID_PINNED_MAX + tr.subject_id_modulus
-    wrong_subject_id = topic.subject_id + 1 if topic.subject_id < subject_id_max else topic.subject_id - 1
+    topic_subject_id = topic.subject_id(tr.subject_id_modulus)
+    wrong_subject_id = topic_subject_id + 1 if topic_subject_id < subject_id_max else topic_subject_id - 1
     hdr = MsgRelHeader(
         topic_log_age=0,
         topic_evictions=topic.evictions,
@@ -828,8 +829,8 @@ async def test_reliable_msg_dedup():
     )
 
     # Deliver twice.
-    node.on_subject_arrival(topic.subject_id, arrival)
-    node.on_subject_arrival(topic.subject_id, arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
 
     # Should only get one message.
     assert sub.queue.qsize() == 1
@@ -891,7 +892,7 @@ async def test_reliable_msg_ordered_late_drop_sends_no_ack_or_nack():
             remote_id=99,
             message=hdr.serialize() + f"m{tag}".encode(),
         )
-        node.on_subject_arrival(topic.subject_id, arrival)
+        node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
         await asyncio.sleep(0.02)
         tr.unicast_log.clear()
         await sub.queue.get()
@@ -908,7 +909,7 @@ async def test_reliable_msg_ordered_late_drop_sends_no_ack_or_nack():
         remote_id=99,
         message=late_hdr.serialize() + b"late",
     )
-    node.on_subject_arrival(topic.subject_id, late_arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), late_arrival)
     await asyncio.sleep(0.02)
 
     assert tr.unicast_log == []
@@ -1011,7 +1012,7 @@ async def test_multicast_msg_ack_ignored():
         remote_id=42,
         message=MsgAckHeader(topic_hash=topic.hash, tag=tag).serialize(),
     )
-    node.on_subject_arrival(topic.subject_id, arrival)
+    node.on_subject_arrival(topic.subject_id(tr.subject_id_modulus), arrival)
 
     assert not tracker.acknowledged
     assert tracker.remaining == {42}

{pycyphal2-2.0.0.dev0 → pycyphal2-2.0.0.dev2}/tests/test_topic.py

@@ -109,7 +109,7 @@ async def test_advertise_assigns_subject_id():
     resolved, _, _ = resolve_name("my/topic", "test_node", "")
     topic = node.topics_by_name[resolved]
 
-    sid = topic.subject_id
+    sid = topic.subject_id(tr.subject_id_modulus)
     assert sid == compute_subject_id(topic.hash, topic.evictions, DEFAULT_MODULUS)
     assert node.topics_by_subject_id.get(sid) is topic
 
@@ -127,7 +127,7 @@ async def test_advertise_pinned_topic():
     resolved, pin, _ = resolve_name("my/topic#42", "test_node", "")
     assert pin == 42
     topic = node.topics_by_name[resolved]
-    assert topic.subject_id == 42
+    assert topic.subject_id(tr.subject_id_modulus) == 42
 
     pub.close()
     node.close()
@@ -179,7 +179,7 @@ async def test_topic_collision_evicts_loser():
     topic2 = node.topics_by_name[resolved2]
 
     # Both topics should exist with non-colliding subject-IDs (the allocator resolved them).
-    assert topic1.subject_id != topic2.subject_id or topic1 is topic2
+    assert topic1.subject_id(tr.subject_id_modulus) != topic2.subject_id(tr.subject_id_modulus) or topic1 is topic2
     assert topic1.name in node.topics_by_name
     assert topic2.name in node.topics_by_name
 
@@ -217,7 +217,7 @@ async def test_collision_allocator_iterates():
     # Collect all subject-IDs (non-pinned).
     sids = set()
     for name, topic in node.topics_by_name.items():
-        sid = topic.subject_id
+        sid = topic.subject_id(tr.subject_id_modulus)
         if sid not in sids:
             sids.add(sid)
         else:
@@ -318,7 +318,7 @@ async def test_gossip_unknown_collision_we_win():
     pub = node.advertise("my/topic")
     resolved, _, _ = resolve_name("my/topic", "test_node", "")
     topic = node.topics_by_name[resolved]
-    my_sid = topic.subject_id
+    my_sid = topic.subject_id(tr.subject_id_modulus)
 
     # Make our topic very old so we win.
     topic.ts_origin = time.monotonic() - 100000

pycyphal2-2.0.0.dev0/src/pycyphal2/__init__.py

@@ -1,89 +0,0 @@
-"""
-`Cyphal <https://opencyphal.org>`_ in Python —
-decentralized real-time pub/sub with tunable reliability, service discovery, and zero configuration.
-Works anywhere, `even baremetal MCUs <https://github.com/OpenCyphal-Garage/cy>`_.
-
-Supports various transports such as Ethernet (UDP) and CAN FD with optional redundancy.
-Set up a transport, make a node, publish and subscribe:
-
-```python
-from pycyphal2 import Node, Instant
-from pycyphal2.udp import UDPTransport
-
-async def main():
-    node = Node.new(UDPTransport.new(), "my_node")
-
-    pub = node.advertise("sensor/temperature")
-    await pub(Instant.now() + 1.0, b"21.5")
-
-    sub = node.subscribe("sensor/temperature")
-    async for arrival in sub:
-        print(arrival.message)
-```
-
-All public symbols live at the top level — just `import pycyphal2`.
-Transport modules (`pycyphal2.udp`, `pycyphal2.can`) are imported separately
-so that only the needed dependencies are pulled in.
-
-The source repository contains a collection of runnable examples.
-
-Environment variables control name remapping similar to ROS:
-
-- `CYPHAL_NAMESPACE` — default namespace prepended to relative topic names.
-- `CYPHAL_REMAP` — topic name remappings (`from=to` pairs, whitespace-separated).
-
-Publication is best-effort by default. Pass ``reliable=True`` when publishing to retry delivery until
-acknowledged by every known subscriber or until the deadline; if the remote side does not acknowledge in time,
-:class:`DeliveryError` is raised.
-
-```python
-await pub(Instant.now() + 1.0, b"payload", reliable=True)
-```
-
-Subscriptions normally yield messages as soon as they arrive. Set ``reordering_window`` [seconds] on
-:meth:`Node.subscribe` to allow delaying out-of-order messages to reconstruct the original publication order.
-This is useful for sensor feeds and state estimators.
-
-```python
-sub = node.subscribe("sensor/temperature", reordering_window=0.1)
-```
-
-RPC is layered directly on top of pub/sub. Use :meth:`Publisher.request` to publish a message that expects
-responses, and use :attr:`Arrival.breadcrumb` on the subscriber side to send a unicast reply back to the requester.
-One request may yield responses from multiple subscribers.
-
-```python
-stream = await pub.request(Instant.now() + 1.0, 0.5, b"read")
-async for response in stream:
-    print(response.message)
-```
-
-Streaming is just repeated replying on the same breadcrumb. The requester consumes such replies through
-:class:`ResponseStream`; each responder numbers its own responses from zero upward.
-
-```python
-await arrival.breadcrumb(Instant.now() + 1.0, b"chunk-1", reliable=True)
-await arrival.breadcrumb(Instant.now() + 1.0, b"chunk-2", reliable=True)
-```
-
-Cyphal does not define a serialization format. Previous versions used to define the DSDL format but it has been
-extracted into an independent project, and Cyphal was made serialization-agnostic in v1.1+.
-"""
-
-from __future__ import annotations
-
-from ._api import *
-from ._transport import Transport as Transport
-from ._transport import TransportArrival as TransportArrival
-from ._transport import SubjectWriter as SubjectWriter
-
-__version__ = "2.0.0.dev0"
-
-# pdoc needs __all__ to display re-exported members.
-__all__ = [
-    _k
-    for _k, _v in vars().items()
-    if not _k.startswith("_")
-    and _k not in {"annotations", "TYPE_CHECKING"}
-    and (getattr(_v, "__module__", None) or "").startswith(__name__)
-]