robotrace-sdk 2.0.0__tar.gz

robotrace_sdk-2.0.0/.gitignore

@@ -0,0 +1,7 @@
+__pycache__/
+*.pyc
+.pytest_cache/
+.robotrace/
+dist/
+*.egg-info/
+build/

robotrace_sdk-2.0.0/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 RoboSwarm
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

robotrace_sdk-2.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: robotrace-sdk
+Version: 2.0.0
+Summary: OTel-native Python SDK for robot observability — mission tracing, sensor telemetry, and evaluation
+Project-URL: Homepage, https://robotrace.io
+Project-URL: Documentation, https://docs.robotrace.io
+Project-URL: Source, https://github.com/roboswarm/robotrace-sdk
+Author-email: RoboSwarm Team <sdk@robotrace.io>
+License-Expression: MIT
+License-File: LICENSE
+Keywords: observability,opentelemetry,robotics,rosp,telemetry,tracing
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.10
+Requires-Dist: httpx>=0.27
+Requires-Dist: opentelemetry-api>=1.27
+Requires-Dist: opentelemetry-exporter-otlp-proto-http>=1.27
+Requires-Dist: opentelemetry-sdk>=1.27
+Provides-Extra: commands
+Requires-Dist: websockets>=12.0; extra == 'commands'
+Provides-Extra: dev
+Requires-Dist: pytest-asyncio>=0.23; extra == 'dev'
+Requires-Dist: pytest>=8.0; extra == 'dev'
+Provides-Extra: mcap
+Requires-Dist: mcap<2,>=1.1; extra == 'mcap'
+Requires-Dist: zstandard>=0.19; extra == 'mcap'
+Description-Content-Type: text/markdown
+
+# RoboTrace SDK
+
+OTel-native Python SDK for robot observability. Mission tracing, sensor telemetry, evaluation scoring -- think Langfuse, but for robots.
+
+## Install
+
+```bash
+pip install robotrace-sdk
+```
+
+Optional extras:
+```bash
+pip install robotrace-sdk[mcap]      # MCAP recording
+pip install robotrace-sdk[commands]  # Inbound command channel (WebSocket)
+```
+
+## Quick Start
+
+```python
+from robotrace import RoboTrace, Scalar, Pose3D, Battery
+
+rt = RoboTrace(
+    host="https://your-robotrace-server.com",
+    public_key="rt-pk-xxx",
+    secret_key="rt-sk-xxx",
+    device_id="amr-001",
+)
+
+# Log sensor telemetry
+rt.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+rt.log("sensors/battery", Battery(voltage=12.6, soc=0.875, current=-2.1))
+
+# Track missions
+with rt.mission("deliver_pallet", tags=["zone-B"]) as m:
+    with m.phase("navigate"):
+        rt.log("robot/pose", Pose3D(x=5.0, y=3.0, z=0.0))
+    m.score("success", True)
+
+rt.shutdown()
+```
+
+## ROS2 Integration
+
+Connect to any ROS2 robot with zero code changes (bridge) or 3 lines (converters):
+
+### Converters (in your code)
+
+```python
+from robotrace.ros2 import from_odometry, from_laser_scan, from_battery_state
+
+# In your ROS2 callback:
+rt.log("robot/pose", from_odometry(odom_msg))
+rt.log("sensors/lidar", from_laser_scan(scan_msg))
+rt.log("sensors/battery", from_battery_state(battery_msg))
+```
+
+### Bridge (zero code changes)
+
+```yaml
+# bridge.yaml
+robotrace:
+  host: https://your-server.com
+  public_key: rt-pk-xxx
+  secret_key: rt-sk-xxx
+  device_id: my-robot
+topics:
+  /scan: {stream: sensors/lidar, type: LaserScan}
+  /odom: {stream: robot/pose, type: Odometry}
+  /battery_state: {stream: sensors/battery, type: BatteryState}
+```
+
+```bash
+python -m robotrace.ros2 --config bridge.yaml
+```
+
+16 converters included: LaserScan, Imu, BatteryState, Odometry, Twist, PoseStamped, NavSatFix, JointState, Image, CompressedImage, PointCloud2, Path, DiagnosticArray, Temperature, Range.
+
+## Stream Configuration
+
+Tell the platform what your data means (units, ranges, thresholds):
+
+```python
+rt.configure_stream("sensors/battery", {
+    "display_name": "Main Battery",
+    "data_type": "battery",
+    "fields": {
+        "soc": {"unit": "ratio", "scale": 100, "display_unit": "%"},
+        "voltage": {"unit": "V", "range": [10.0, 14.8]},
+        "temperature": {"unit": "C", "warning_above": 60},
+    },
+    "rate_hz": 1,
+})
+```
+
+## Decorator Pattern
+
+```python
+from robotrace import mission, phase
+
+@mission(name="deliver_pallet")
+def deliver(destination):
+    navigate_to(destination)
+    pick_up()
+    return {"status": "delivered"}
+
+@phase()
+def navigate_to(destination):
+    rt.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+
+# Works with async too
+@mission()
+async def async_delivery(destination):
+    await navigate_async(destination)
+```
+
+## Context Manager Pattern
+
+```python
+with rt.mission("pick_and_place", tags=["priority-high"]) as m:
+    with m.phase("navigate") as nav:
+        nav.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+        nav.event("obstacle_detected", {"distance_m": 0.5})
+    with m.phase("pick") as pick:
+        pick.decision("grasp_planner", model="graspnet-v2",
+                      input={"target": [0, 0, 0]}, output={"confidence": 0.95})
+    m.score("cycle_time_s", 14.2)
+    m.score("success", True)
+```
+
+## Data Types
+
+20 typed sensor data types:
+
+| Type | Description |
+|------|-------------|
+| `Scalar(value)` | Single numeric value |
+| `Vector3(x, y, z)` | 3D vector |
+| `VectorN(values)` | N-dimensional vector |
+| `Pose3D(x, y, z, qx, qy, qz, qw)` | 6DOF pose with quaternion |
+| `Transform3D(translation, rotation)` | Coordinate transform |
+| `PointCloud(points, colors)` | Nx3 point cloud |
+| `Image(data, format)` | Compressed image (JPEG/PNG) |
+| `DepthImage(data)` | Depth map |
+| `Video(data, format)` | Video clip |
+| `LaserScan(ranges, angle_min, angle_max, angle_increment)` | 2D LiDAR scan |
+| `JointState(names, positions, velocities, efforts)` | Multi-DOF joint state |
+| `NumericSet(values)` | Named numeric values |
+| `GeoLocation(latitude, longitude, altitude, heading, speed)` | GPS/GNSS position |
+| `Path(points, frame_id)` | Trajectory waypoints |
+| `Twist(linear_x/y/z, angular_x/y/z)` | 6DOF velocity |
+| `BoundingBox2D(x, y, w, h, label)` | 2D detection |
+| `BoundingBox3D(center, size, label)` | 3D detection |
+| `Log(message, level)` | Text log message |
+| `Battery(voltage, current, soc, health, temperature)` | Battery state |
+| `Bitset(value, width, labels)` | Hardware status register |
+
+## Fleet Gateway
+
+Manage telemetry for multiple robots from one process:
+
+```python
+from robotrace import RoboTraceFleet
+
+fleet = RoboTraceFleet(
+    host="https://your-server.com",
+    public_key="rt-pk-xxx",
+    secret_key="rt-sk-xxx",
+    device_ids=["amr-001", "amr-002", "amr-003"],
+)
+
+with fleet.mission("amr-001", "deliver_pallet") as m:
+    fleet.log("amr-001", "sensors/battery", Battery(voltage=12.4))
+    m.score("success", True)
+
+fleet.broadcast_log("fleet/heartbeat", Scalar(1.0))
+fleet.shutdown_all()
+```
+
+## Inbound Commands
+
+Receive commands from the server (requires `pip install robotrace-sdk[commands]`):
+
+```python
+cmd = rt.command_channel()
+
+@cmd.on("e_stop")
+def handle_estop(payload):
+    robot.emergency_stop()
+
+@cmd.on("set_speed")
+def handle_speed(payload):
+    robot.set_max_speed(payload["max_speed"])
+
+cmd.start()
+```
+
+## MCAP Recording
+
+Dual-output: telemetry goes to both the server AND a local MCAP file (requires `pip install robotrace-sdk[mcap]`):
+
+```python
+rt.start_recording("mission.mcap")
+# All subsequent log() calls also write to the MCAP file
+rt.stop_recording()
+```
+
+## Pipeline Health
+
+```python
+health = rt.health()
+# {'buffered_count': 5, 'offline_count': 0, 'stats': {...}, 'is_recording': False}
+
+rt = RoboTrace(..., on_error=lambda ctx, exc: print(f"Error in {ctx}: {exc}"))
+```
+
+## Environment Variables
+
+| Variable | Default | Description |
+|----------|---------|-------------|
+| `ROBOTRACE_HOST` | (none) | Server URL (fallback if `host` not set) |
+| `ROBOTRACE_DEBUG` | `false` | Enable debug logging to stderr |
+| `ROBOTRACE_LOG_LEVEL` | `WARNING` | Log level: DEBUG, INFO, WARNING, ERROR |
+| `ROBOTRACE_LOG_FILE` | (none) | Write SDK logs to this file |
+| `ROBOTRACE_DATA_DIR` | `~/.robotrace` | Directory for offline queue database |
+| `ROBOTRACE_OFFLINE_MAX_MB` | `100` | Max offline queue size in MB |
+| `ROBOTRACE_OFFLINE_MAX_HOURS` | `72` | Max offline queue age in hours |
+
+## Development
+
+```bash
+pip install -e ".[dev]"
+pytest                        # 242 tests
+pytest tests/test_ros2_converters.py  # ROS2 converter tests only
+```
+
+## License
+
+MIT

robotrace_sdk-2.0.0/README.md

@@ -0,0 +1,238 @@
+# RoboTrace SDK
+
+OTel-native Python SDK for robot observability. Mission tracing, sensor telemetry, evaluation scoring -- think Langfuse, but for robots.
+
+## Install
+
+```bash
+pip install robotrace-sdk
+```
+
+Optional extras:
+```bash
+pip install robotrace-sdk[mcap]      # MCAP recording
+pip install robotrace-sdk[commands]  # Inbound command channel (WebSocket)
+```
+
+## Quick Start
+
+```python
+from robotrace import RoboTrace, Scalar, Pose3D, Battery
+
+rt = RoboTrace(
+    host="https://your-robotrace-server.com",
+    public_key="rt-pk-xxx",
+    secret_key="rt-sk-xxx",
+    device_id="amr-001",
+)
+
+# Log sensor telemetry
+rt.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+rt.log("sensors/battery", Battery(voltage=12.6, soc=0.875, current=-2.1))
+
+# Track missions
+with rt.mission("deliver_pallet", tags=["zone-B"]) as m:
+    with m.phase("navigate"):
+        rt.log("robot/pose", Pose3D(x=5.0, y=3.0, z=0.0))
+    m.score("success", True)
+
+rt.shutdown()
+```
+
+## ROS2 Integration
+
+Connect to any ROS2 robot with zero code changes (bridge) or 3 lines (converters):
+
+### Converters (in your code)
+
+```python
+from robotrace.ros2 import from_odometry, from_laser_scan, from_battery_state
+
+# In your ROS2 callback:
+rt.log("robot/pose", from_odometry(odom_msg))
+rt.log("sensors/lidar", from_laser_scan(scan_msg))
+rt.log("sensors/battery", from_battery_state(battery_msg))
+```
+
+### Bridge (zero code changes)
+
+```yaml
+# bridge.yaml
+robotrace:
+  host: https://your-server.com
+  public_key: rt-pk-xxx
+  secret_key: rt-sk-xxx
+  device_id: my-robot
+topics:
+  /scan: {stream: sensors/lidar, type: LaserScan}
+  /odom: {stream: robot/pose, type: Odometry}
+  /battery_state: {stream: sensors/battery, type: BatteryState}
+```
+
+```bash
+python -m robotrace.ros2 --config bridge.yaml
+```
+
+16 converters included: LaserScan, Imu, BatteryState, Odometry, Twist, PoseStamped, NavSatFix, JointState, Image, CompressedImage, PointCloud2, Path, DiagnosticArray, Temperature, Range.
+
+## Stream Configuration
+
+Tell the platform what your data means (units, ranges, thresholds):
+
+```python
+rt.configure_stream("sensors/battery", {
+    "display_name": "Main Battery",
+    "data_type": "battery",
+    "fields": {
+        "soc": {"unit": "ratio", "scale": 100, "display_unit": "%"},
+        "voltage": {"unit": "V", "range": [10.0, 14.8]},
+        "temperature": {"unit": "C", "warning_above": 60},
+    },
+    "rate_hz": 1,
+})
+```
+
+## Decorator Pattern
+
+```python
+from robotrace import mission, phase
+
+@mission(name="deliver_pallet")
+def deliver(destination):
+    navigate_to(destination)
+    pick_up()
+    return {"status": "delivered"}
+
+@phase()
+def navigate_to(destination):
+    rt.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+
+# Works with async too
+@mission()
+async def async_delivery(destination):
+    await navigate_async(destination)
+```
+
+## Context Manager Pattern
+
+```python
+with rt.mission("pick_and_place", tags=["priority-high"]) as m:
+    with m.phase("navigate") as nav:
+        nav.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+        nav.event("obstacle_detected", {"distance_m": 0.5})
+    with m.phase("pick") as pick:
+        pick.decision("grasp_planner", model="graspnet-v2",
+                      input={"target": [0, 0, 0]}, output={"confidence": 0.95})
+    m.score("cycle_time_s", 14.2)
+    m.score("success", True)
+```
+
+## Data Types
+
+20 typed sensor data types:
+
+| Type | Description |
+|------|-------------|
+| `Scalar(value)` | Single numeric value |
+| `Vector3(x, y, z)` | 3D vector |
+| `VectorN(values)` | N-dimensional vector |
+| `Pose3D(x, y, z, qx, qy, qz, qw)` | 6DOF pose with quaternion |
+| `Transform3D(translation, rotation)` | Coordinate transform |
+| `PointCloud(points, colors)` | Nx3 point cloud |
+| `Image(data, format)` | Compressed image (JPEG/PNG) |
+| `DepthImage(data)` | Depth map |
+| `Video(data, format)` | Video clip |
+| `LaserScan(ranges, angle_min, angle_max, angle_increment)` | 2D LiDAR scan |
+| `JointState(names, positions, velocities, efforts)` | Multi-DOF joint state |
+| `NumericSet(values)` | Named numeric values |
+| `GeoLocation(latitude, longitude, altitude, heading, speed)` | GPS/GNSS position |
+| `Path(points, frame_id)` | Trajectory waypoints |
+| `Twist(linear_x/y/z, angular_x/y/z)` | 6DOF velocity |
+| `BoundingBox2D(x, y, w, h, label)` | 2D detection |
+| `BoundingBox3D(center, size, label)` | 3D detection |
+| `Log(message, level)` | Text log message |
+| `Battery(voltage, current, soc, health, temperature)` | Battery state |
+| `Bitset(value, width, labels)` | Hardware status register |
+
+## Fleet Gateway
+
+Manage telemetry for multiple robots from one process:
+
+```python
+from robotrace import RoboTraceFleet
+
+fleet = RoboTraceFleet(
+    host="https://your-server.com",
+    public_key="rt-pk-xxx",
+    secret_key="rt-sk-xxx",
+    device_ids=["amr-001", "amr-002", "amr-003"],
+)
+
+with fleet.mission("amr-001", "deliver_pallet") as m:
+    fleet.log("amr-001", "sensors/battery", Battery(voltage=12.4))
+    m.score("success", True)
+
+fleet.broadcast_log("fleet/heartbeat", Scalar(1.0))
+fleet.shutdown_all()
+```
+
+## Inbound Commands
+
+Receive commands from the server (requires `pip install robotrace-sdk[commands]`):
+
+```python
+cmd = rt.command_channel()
+
+@cmd.on("e_stop")
+def handle_estop(payload):
+    robot.emergency_stop()
+
+@cmd.on("set_speed")
+def handle_speed(payload):
+    robot.set_max_speed(payload["max_speed"])
+
+cmd.start()
+```
+
+## MCAP Recording
+
+Dual-output: telemetry goes to both the server AND a local MCAP file (requires `pip install robotrace-sdk[mcap]`):
+
+```python
+rt.start_recording("mission.mcap")
+# All subsequent log() calls also write to the MCAP file
+rt.stop_recording()
+```
+
+## Pipeline Health
+
+```python
+health = rt.health()
+# {'buffered_count': 5, 'offline_count': 0, 'stats': {...}, 'is_recording': False}
+
+rt = RoboTrace(..., on_error=lambda ctx, exc: print(f"Error in {ctx}: {exc}"))
+```
+
+## Environment Variables
+
+| Variable | Default | Description |
+|----------|---------|-------------|
+| `ROBOTRACE_HOST` | (none) | Server URL (fallback if `host` not set) |
+| `ROBOTRACE_DEBUG` | `false` | Enable debug logging to stderr |
+| `ROBOTRACE_LOG_LEVEL` | `WARNING` | Log level: DEBUG, INFO, WARNING, ERROR |
+| `ROBOTRACE_LOG_FILE` | (none) | Write SDK logs to this file |
+| `ROBOTRACE_DATA_DIR` | `~/.robotrace` | Directory for offline queue database |
+| `ROBOTRACE_OFFLINE_MAX_MB` | `100` | Max offline queue size in MB |
+| `ROBOTRACE_OFFLINE_MAX_HOURS` | `72` | Max offline queue age in hours |
+
+## Development
+
+```bash
+pip install -e ".[dev]"
+pytest                        # 242 tests
+pytest tests/test_ros2_converters.py  # ROS2 converter tests only
+```
+
+## License
+
+MIT

robotrace_sdk-2.0.0/pyproject.toml

@@ -0,0 +1,59 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "robotrace-sdk"
+version = "2.0.0"
+description = "OTel-native Python SDK for robot observability — mission tracing, sensor telemetry, and evaluation"
+readme = "README.md"
+license = "MIT"
+requires-python = ">=3.10"
+authors = [{ name = "RoboSwarm Team", email = "sdk@robotrace.io" }]
+keywords = ["robotics", "telemetry", "tracing", "opentelemetry", "observability", "rosp"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Topic :: Scientific/Engineering",
+]
+
+dependencies = [
+    "opentelemetry-api>=1.27",
+    "opentelemetry-sdk>=1.27",
+    "opentelemetry-exporter-otlp-proto-http>=1.27",
+    "httpx>=0.27",
+]
+
+[project.optional-dependencies]
+mcap = [
+    "mcap>=1.1,<2",
+    "zstandard>=0.19",
+]
+commands = [
+    "websockets>=12.0",
+]
+dev = [
+    "pytest>=8.0",
+    "pytest-asyncio>=0.23",
+]
+
+[project.urls]
+Homepage = "https://robotrace.io"
+Documentation = "https://docs.robotrace.io"
+Source = "https://github.com/roboswarm/robotrace-sdk"
+
+[tool.hatch.build.targets.sdist]
+exclude = [".robotrace/", ".pytest_cache/", "__pycache__/"]
+
+[tool.hatch.build.targets.wheel]
+packages = ["robotrace"]
+exclude = [".robotrace/", ".pytest_cache/", "__pycache__/"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+asyncio_mode = "auto"

robotrace_sdk-2.0.0/robotrace/__init__.py

@@ -0,0 +1,97 @@
+"""RoboTrace SDK v2 — OTel-native robot observability.
+
+Quick start::
+
+    from robotrace import RoboTrace, mission, phase, Scalar, Pose3D
+
+    rt = RoboTrace(
+        host="http://localhost:8080",
+        public_key="rt-pk-xxx",
+        secret_key="rt-sk-xxx",
+        device_id="urn:rosp:device:robotis:turtlebot3:001",
+    )
+
+    with rt.mission("deliver_pallet", tags=["zone-B"]) as m:
+        with m.phase("navigate") as nav:
+            nav.log("robot/pose", Pose3D(x=1.0, y=2.0, z=0.0))
+            nav.log("sensors/battery", Scalar(87.5))
+        m.score("success", True)
+"""
+
+import logging as _logging
+
+# Python library best practice: NullHandler prevents "No handler found" warnings
+# when the application doesn't configure logging. Users configure their own handlers.
+_logging.getLogger("robotrace").addHandler(_logging.NullHandler())
+
+# Single version source — read from installed package metadata, fallback to hardcoded.
+# Must be defined before submodule imports (client.py and decorators.py reference it).
+try:
+    from importlib.metadata import version as _pkg_version
+    __version__ = _pkg_version("robotrace-sdk")
+except Exception:
+    __version__ = "2.0.0"
+
+from .client import RoboTrace
+from .commands import CommandChannel
+from .component import Component
+from .fleet import RoboTraceFleet
+from .decorators import mission, phase
+from .recorder import McapRecorder, mcap_available
+from .streaming import StreamingCamera
+from .types import (
+    Battery,
+    Bitset,
+    BoundingBox2D,
+    BoundingBox3D,
+    DepthImage,
+    GeoLocation,
+    Image,
+    JointState,
+    LaserScan,
+    Log,
+    NumericSet,
+    Path,
+    PointCloud,
+    Pose3D,
+    Scalar,
+    Transform3D,
+    Twist,
+    Vector3,
+    VectorN,
+    Video,
+)
+
+__all__ = [
+    "RoboTrace",
+    "RoboTraceFleet",
+    "CommandChannel",
+    "Component",
+    "mission",
+    "phase",
+    "McapRecorder",
+    "mcap_available",
+    "StreamingCamera",
+    # Timeline values are set via rt.set_time() / rt.reset_time() on the RoboTrace instance
+    "Scalar",
+    "Vector3",
+    "VectorN",
+    "Pose3D",
+    "Transform3D",
+    "PointCloud",
+    "Image",
+    "DepthImage",
+    "LaserScan",
+    "JointState",
+    "NumericSet",
+    "GeoLocation",
+    "Path",
+    "Twist",
+    "BoundingBox2D",
+    "BoundingBox3D",
+    "Video",
+    "Log",
+    "Battery",
+    "Bitset",
+]
+