setaur 0.1.0__tar.gz

setaur-0.1.0/LICENSE

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setaur-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: setaur
+Version: 0.1.0
+Summary: Robotics telemetry SDK — publish sensor streams, structured events, and distributed traces to the Setaur observability platform
+Keywords: robotics,telemetry,observability,tracing,distributed-tracing,sensors,events,ros,autonomous,setaur
+Author: Noah Shibley
+Author-email: Noah Shibley <noah@calque.ai>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Typing :: Typed
+Requires-Dist: cbor2>=6.1.2
+Requires-Dist: nats-py>=2.15.0
+Requires-Python: >=3.11
+Project-URL: Homepage, https://setaur.ai
+Project-URL: Documentation, https://setaur.ai/docs/python-sdk
+Project-URL: Repository, https://github.com/calque-ai/setaur-sdk-python
+Project-URL: Bug Tracker, https://github.com/calque-ai/setaur-sdk-python/issues
+Description-Content-Type: text/markdown
+
+# setaur-sdk-python
+
+Python SDK for publishing telemetry from a robot to the **setaur-edge** agent. Send sensor readings, structured events, and distributed traces with a single import.
+
+---
+
+## What is this?
+
+Setaur is a telemetry SDK for robotics. It gives every component on your robot a consistent way to emit three kinds of data:
+
+| Kind       | Use for                                                                     | API                                     |
+| ---------- | --------------------------------------------------------------------------- | --------------------------------------- |
+| **Sensor** | High-rate, continuous measurements (IMU, lidar, encoders)                   | `setaur.sensor()`                       |
+| **Event**  | Sparse, discrete occurrences (state changes, faults, commands)              | `setaur.info()` / `setaur.error()` / …  |
+| **Span**   | Timed operations with a start, end, and duration (path planning, arm moves) | `setaur.span()` / `setaur.get_tracer()` |
+
+All three are published to a local **setaur-edge** agent, which forwards them to the Setaur platform.
+
+---
+
+## Prerequisites
+
+### 1. Create a Setaur account
+
+Sign up at **[setaur.ai](https://setaur.ai)**.
+
+### 2. Add a robot
+
+In the Setaur platform, add a robot. This generates a unique **robot key** (`rbt-…`) and a **credentials file** (`.creds`) that the SDK uses to authenticate with setaur-edge.
+
+Download both from the add/edit robot configuration page, you'll need them in the steps below.
+
+### 3. Install and run setaur-edge on the robot
+
+**setaur-edge** is the local agent that receives telemetry from the SDK and forwards it to the Setaur platform. Download it from the add/edit robot configuration page in the Setaur platform.
+
+Run it on the same machine as your robot code before calling `setaur.init()`:
+
+```bash
+./setaur-edge --creds /etc/robot/robot.creds
+```
+
+Setaur-edge must be running before `setaur.init()` is called or it will raise a `RuntimeError`. See the [setaur-edge documentation](https://setaur.ai/docs/setauredge) for installation options, configuration flags, and running as a system service.
+
+---
+
+## Installation
+
+```bash
+pip install setaur
+```
+
+Or with [uv](https://docs.astral.sh/uv/):
+
+```bash
+uv add setaur
+```
+
+---
+
+## Quick start
+
+```python
+import time
+import setaur
+from setaur import SourceType
+
+# Robot key and credentials are generated on the add/edit robot page at setaur.ai.
+setaur.init("rbt-yourrobotkey")
+
+# Publish one IMU reading
+setaur.sensor(
+    source_id    = "imu_main",
+    source_type  = SourceType.SENSOR,
+    timestamp_ns = time.time_ns(),
+    data         = {"accel": {"x": 0.01, "y": -0.02, "z": 9.81}},
+)
+
+setaur.shutdown()
+```
+
+---
+
+## Initialisation and shutdown
+
+```python
+import setaur
+
+# Connect to setaur-edge. Blocks until connected or raises RuntimeError on failure.
+# Returns the client, store it if you need direct access to flush() or close().
+client = setaur.init("rbt-yourrobotkey")
+
+# Optional: pass an explicit credentials file path.
+# Falls back to the SETAUR_CREDS_FILE environment variable when omitted.
+setaur.init("rbt-yourrobotkey", creds_file="/etc/robot/robot.creds")
+
+# At process exit, flush all queued messages then close the connection.
+setaur.shutdown()
+
+# Mid-run flush (e.g. before a reboot) without stopping the client.
+setaur.flush(timeout=3.0)
+```
+
+The `SETAUR_CREDS_FILE` environment variable is the recommended way to supply credentials in production:
+
+```bash
+SETAUR_CREDS_FILE=/etc/robot/robot.creds python my_robot.py
+```
+
+---
+
+## Sensors
+
+Use `sensor()` for continuous, high-rate streams. Capture the timestamp immediately after the hardware read, before any processing, so it reflects true acquisition time.
+
+```python
+import time
+import setaur
+from setaur import SourceType
+
+setaur.init("rbt-yourrobotkey")
+
+data, timestamp_ns = read_imu()   # your driver call
+
+seq = setaur.sensor(
+    source_id    = "imu_main",
+    source_type  = SourceType.SENSOR,
+    timestamp_ns = timestamp_ns,
+    data         = data,           # any CBOR-serializable dict
+)
+# seq is a monotonically increasing counter per source_id.
+# A gap on the receiving side means a message was dropped.
+```
+
+**Source types**
+
+| Value                      | Meaning                               |
+| -------------------------- | ------------------------------------- |
+| `SourceType.SENSOR`        | Physical sensor (IMU, lidar, camera)  |
+| `SourceType.STATE_MACHINE` | State machine or planner output       |
+| `SourceType.METADATA`      | Configuration or descriptive metadata |
+
+---
+
+## Events
+
+Use events for sparse, discrete occurrences, state transitions, faults, commands, milestones. Each event carries a machine-readable `event_type`, a human-readable `message`, a severity level, and optional structured `attrs`.
+
+### Severity shortcuts
+
+```python
+setaur.info("nav", "startup", "Navigation system ready")
+
+setaur.warning("battery_monitor", "battery_low", "Battery at 18%",
+               attrs={"battery_pct": 18, "voltage_v": 11.2})
+
+setaur.error("motor_controller", "motor_fault", "Motor 2 overcurrent",
+             attrs={"motor_id": "motor_2", "current_amps": 12.5})
+
+setaur.critical("safety_controller", "emergency_stop", "E-stop triggered",
+                attrs={"trigger_source": "lidar", "distance_cm": 12})
+```
+
+### Generic event
+
+```python
+from setaur import EventSeverity
+
+setaur.event(
+    source_id  = "navigation_controller",
+    event_type = "state_transition",
+    message    = "Switched to AUTONOMOUS mode",
+    severity   = EventSeverity.INFO,
+    attrs      = {"from_state": "MANUAL", "to_state": "AUTONOMOUS"},
+    data       = {"extra_blob": ...},   # optional: unstructured payload
+)
+```
+
+`event_type` is a machine-readable label used for filtering and aggregation (e.g. `"motor_fault"`). `message` is the human-readable description shown in the UI.
+
+**Severity levels**
+
+| Level      | When to use                                      |
+| ---------- | ------------------------------------------------ |
+| `INFO`     | Normal operational events                        |
+| `WARNING`  | Something worth watching but not yet broken      |
+| `ERROR`    | Something went wrong; intervention may be needed |
+| `CRITICAL` | Immediate action required (e.g. safety stop)     |
+
+---
+
+## Spans
+
+Use spans to time operations, path planning, actuator moves, perception pipelines. A span records a start time, end time, and duration automatically. Nested spans form a distributed trace with no manual ID wiring.
+
+### Simple span
+
+```python
+with setaur.span("nav", "path_planning", "Plan route to dock") as s:
+    s.set_attr("goal", "charging_dock")
+    waypoints = plan_path()
+    s.set_attr("waypoint_count", len(waypoints))
+
+# After the with block:
+print(s.sequence_num)   # published sequence number
+print(s.trace_id)       # 32-char hex trace ID
+print(s.span_id)        # 16-char hex span ID
+```
+
+### Nested spans automatic trace propagation
+
+Spans opened inside an active span automatically inherit the enclosing `trace_id` and set `parent_id` without any manual wiring:
+
+```python
+with setaur.span("mission_executor", "mission_leg", "Execute leg") as mission:
+    for wp in waypoints:
+        with setaur.span("drive_controller", "waypoint_exec", f"Drive to {wp}") as s:
+            success = drive_to(wp)
+            s.set_attr("success", success)
+
+            if not success:
+                # This event is also linked to the active trace automatically.
+                setaur.error("drive_controller", "waypoint_failed", f"Failed at {wp}",
+                             attrs={"waypoint": wp})
+```
+
+If an exception propagates out of a span, `span.error` is recorded in `attrs` automatically and the span is published normally.
+
+### Span options
+
+```python
+from setaur import SpanKind
+
+with setaur.span(
+    "arm_controller",
+    "joint_move",
+    "Move joint 3 to 45°",
+    kind = SpanKind.ACTUATOR,   # hint to the visualiser
+) as s:
+    move_joint(3, 45)
+```
+
+**Span kinds**
+
+| Value                  | Meaning                                    |
+| ---------------------- | ------------------------------------------ |
+| `SpanKind.UNSPECIFIED` | Default                                    |
+| `SpanKind.INTERNAL`    | Internal computation (planning, inference) |
+| `SpanKind.SENSOR`      | Sensor acquisition                         |
+| `SpanKind.ACTUATOR`    | Actuator command or motion                 |
+| `SpanKind.PRODUCER`    | Publishes work to a queue                  |
+| `SpanKind.CONSUMER`    | Consumes work from a queue                 |
+
+---
+
+## Tracer component-scoped handle
+
+If a component emits many spans and events, use `get_tracer()` to bind `source_id` once and avoid repeating it at every call site:
+
+```python
+nav   = setaur.get_tracer("nav")
+drive = setaur.get_tracer("drive_controller")
+
+with nav.span("mission_leg", "Execute leg") as mission:
+    for wp in waypoints:
+        with drive.span("waypoint_exec", f"Drive to {wp}") as s:
+            success = drive_to(wp)
+            s.set_attr("success", success)
+
+            if not success:
+                drive.error("waypoint_failed", f"Failed at {wp}",
+                            attrs={"waypoint": wp})
+
+nav.info("mission_complete", "Leg finished")
+```
+
+Tracers are lightweight handles, create them at module level and reuse freely. Trace context propagates identically to the module-level functions.
+
+---
+
+## Log correlation
+
+Get the current trace ID for attaching to structured log lines:
+
+```python
+import logging
+logger = logging.getLogger(__name__)
+
+with setaur.span("nav", "planning", "Plan route"):
+    logger.info("starting planner", extra={"trace_id": setaur.get_active_trace_id()})
+    plan()
+```
+
+`get_active_trace_id()` returns `None` when called outside a span context.
+
+---
+
+## API reference
+
+### Init and lifecycle
+
+| Function                                                | Description                                                         |
+| ------------------------------------------------------- | ------------------------------------------------------------------- |
+| `setaur.init(robot_key, *, creds_file=None) -> _Client` | Connect to setaur-edge. Blocks until connected.                     |
+| `setaur.shutdown(timeout=5.0)`                          | Flush queued messages then close the connection.                    |
+| `setaur.flush(timeout=5.0) -> bool`                     | Drain the queue without closing. Returns `True` if drained in time. |
+
+### Sensors
+
+| Function                                                           | Description                                        |
+| ------------------------------------------------------------------ | -------------------------------------------------- |
+| `setaur.sensor(source_id, source_type, timestamp_ns, data) -> int` | Publish a sensor reading. Returns sequence number. |
+
+### Events
+
+| Function                                                                | Description                              |
+| ----------------------------------------------------------------------- | ---------------------------------------- |
+| `setaur.event(source_id, event_type, message, severity, *, ...) -> int` | Publish an event with explicit severity. |
+| `setaur.info(source_id, event_type, message, *, ...) -> int`            | Shorthand for INFO severity.             |
+| `setaur.warning(source_id, event_type, message, *, ...) -> int`         | Shorthand for WARNING severity.          |
+| `setaur.error(source_id, event_type, message, *, ...) -> int`           | Shorthand for ERROR severity.            |
+| `setaur.critical(source_id, event_type, message, *, ...) -> int`        | Shorthand for CRITICAL severity.         |
+
+### Spans and tracing
+
+| Function                                                                     | Description                                            |
+| ---------------------------------------------------------------------------- | ------------------------------------------------------ |
+| `setaur.span(source_id, event_type, message, severity=INFO, *, ...) -> Span` | Return a timed span context manager.                   |
+| `setaur.get_tracer(source_id) -> Tracer`                                     | Return a component-scoped tracer.                      |
+| `setaur.get_active_span() -> Span \| None`                                   | Return the innermost active span for this thread/task. |
+| `setaur.get_active_trace_id() -> str \| None`                                | Return the current trace ID, or `None` outside a span. |
+
+### Return values
+
+Every publish call returns a **sequence number** a monotonically increasing integer per `source_id`. A gap in sequence numbers on the receiving side means at least one message was dropped by the publish queue.
+
+---
+
+## Examples
+
+Full working examples are in the [`examples/`](examples/) directory:
+
+| File                                                  | Demonstrates                                        |
+| ----------------------------------------------------- | --------------------------------------------------- |
+| [`sensor_example.py`](examples/sensor_example.py)     | IMU at 100 Hz with accurate hardware timestamps     |
+| [`event_example.py`](examples/event_example.py)       | All four severity levels with structured attrs      |
+| [`advanced_example.py`](examples/advanced_example.py) | Nested spans, automatic trace propagation, `Tracer` |