spatialdds-ros 0.3.0__py3-none-any.whl

spatialdds_idl18/PROVENANCE.md

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+# Where these types came from
+
+Generated SpatialDDS **1.8** Python bindings, vendored. Do not edit by hand —
+every file here is idlc output plus two mechanical patches, and an edit would
+be lost the next time they are regenerated.
+
+| | |
+|---|---|
+| IDL source | `idl/v1.8/` in `OpenArCloud/SpatialDDS-spec`, at `9c3e1f2` (2026-10-15) |
+| generator | `scripts/generate_types.py` in `OpenArCloud/SpatialDDS-demo` |
+| vendored from | that repo's `spatialdds_idl18/` at `cf4ec23` |
+| files | 64 |
+
+The spec's `idl/v1.8` and the demo's copy were verified byte-identical at the
+time of vendoring, so these bindings correspond to the specification's IDL and
+not to a demo-local variant.
+
+## Why vendored rather than depended on
+
+The `spatialdds` distribution on PyPI (0.5.4, this library's toolchain) ships
+the gateway, canonical JSON and the record helpers — it does **not** ship IDL
+bindings. There is no published package to depend on, and generating at
+install time would need `idlc` and a CycloneDDS build on every machine that
+installs this library, including CI runners and a robot. So they are vendored,
+with the provenance above standing in for a version constraint.
+
+## The two patches, and why they are the generator's job
+
+Both are applied by `generate_types.py` after idlc runs, and both are
+mechanical consequences of idlc's output rather than choices:
+
+**1. The root package is bound.** idlc annotates a nested member with a
+fully-qualified *string* — `cov_pos: 'spatialdds_idl18.spatial.common.Mat3x3'`
+— while importing only `from spatialdds_idl18 import spatial`. The root name in
+those annotations is therefore unbound and `typing.get_type_hints()` raises
+`NameError` on every generated dataclass with a nested member. So each such
+module also does `import spatialdds_idl18`.
+
+CycloneDDS resolves annotations with its own machinery and never calls
+`get_type_hints`, which is why this defect sat unnoticed for a year while
+everything on the wire worked. It still mattered: `get_type_hints` is how
+dataclass-based tooling reads a type, so schema generators and validators
+could not introspect these bindings at all. Fixed upstream in SpatialDDS-demo
+`b856788`, and in openvps `26c7182`.
+
+**2. Union discriminators are imported.** idlc emits some discriminators as
+bare names it never imports; the generator resolves each against the module
+that defines it and writes the import.
+
+## The gate
+
+`test/test_generated_types.py` imports every module in this tree and calls
+`typing.get_type_hints()` on every generated dataclass. It walks the tree from
+disk rather than from a written-down list, because a hand-kept list checks only
+the modules somebody remembered.
+
+That gate is the reason this directory can be trusted by anything that
+introspects types — which, in this library, is the MCAP schema validation in
+the acceptance run.
+
+## Regenerating
+
+Not from this repository. The generator and the IDL both live elsewhere; to
+move to a newer 1.8 revision, regenerate in SpatialDDS-demo and re-vendor,
+updating the table above. The gate will tell you immediately if a regeneration
+dropped either patch.

spatialdds_idl18/__init__.py

@@ -0,0 +1,9 @@
+# Generated by scripts/generate_types.py — do not edit.
+# Regenerate with:  docker run --rm -v "$PWD:/repo" -w /repo cyclonedds-python \
+#                       python3 scripts/generate_types.py
+"""Generated SpatialDDS 1.7 types. See scripts/generate_types.py."""
+
+from . import builtin
+from . import spatial
+
+__all__ = ["builtin", "spatial"]

spatialdds_idl18/_field_aliases.py

@@ -0,0 +1,26 @@
+# Generated by scripts/generate_types.py — do not edit.
+# Regenerate with:  docker run --rm -v "$PWD:/repo" -w /repo cyclonedds-python \
+#                       python3 scripts/generate_types.py
+
+"""Python attribute -> IDL field name, for fields renamed to dodge
+Python keywords. See fix_python_keyword_fields in the generator."""
+
+FIELD_ALIASES = {
+    "spatial.disco.CoverageElement": {
+        "_global": "global",
+    },
+    "spatial.disco.Transform": {
+        "_from": "from",
+    },
+    "spatial.disco.ValidityWindow": {
+        "_from": "from",
+    },
+    "spatial.sensing.common.ROI": {
+        "_global": "global",
+    },
+}
+
+
+def wire_name(typename: str, attr: str) -> str:
+    """The IDL field name for a generated attribute."""
+    return FIELD_ALIASES.get(typename, {}).get(attr, attr)

spatialdds_idl18/builtin/__init__.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: builtin
+
+"""
+
+from ._types import Time
+__all__ = [
+	"Time",
+]

spatialdds_idl18/builtin/_types.py

@@ -0,0 +1,28 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: builtin
+  IDL file: types.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+from spatialdds_idl18 import builtin
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Time(idl.IdlStruct, typename="builtin.Time"):
+    sec: types.int64
+    nanosec: types.uint32
+
+

spatialdds_idl18/spatial/__init__.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial
+
+"""
+
+from . import anchors
+from . import argeo
+from . import common
+from . import core
+from . import disco
+from . import events
+from . import mapping
+from . import owm
+from . import semantics
+from . import sensing
+from . import slam_frontend
+from . import vio
+__all__ = [
+	"anchors",
+	"argeo",
+	"common",
+	"core",
+	"disco",
+	"events",
+	"mapping",
+	"owm",
+	"semantics",
+	"sensing",
+	"slam_frontend",
+	"vio",
+]

spatialdds_idl18/spatial/anchors/__init__.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.anchors
+
+"""
+
+from ._anchors import AnchorDelta, AnchorEntry, AnchorOp, AnchorSet, AnchorSetRequest, AnchorSetResponse, FrameRef, GeoPose, MODULE_ID, Time
+__all__ = [
+	"AnchorDelta",
+	"AnchorEntry",
+	"AnchorOp",
+	"AnchorSet",
+	"AnchorSetRequest",
+	"AnchorSetResponse",
+	"FrameRef",
+	"GeoPose",
+	"MODULE_ID",
+	"Time",
+]

spatialdds_idl18/spatial/anchors/_anchors.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.anchors
+  IDL file: anchors.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.core
+
+
+MODULE_ID = "spatial.anchors/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.anchors.Time', 'spatialdds_idl18.builtin.Time']
+GeoPose = types.typedef['spatialdds_idl18.spatial.anchors.GeoPose', 'spatialdds_idl18.spatial.core.GeoPose']
+FrameRef = types.typedef['spatialdds_idl18.spatial.anchors.FrameRef', 'spatialdds_idl18.spatial.core.FrameRef']
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AnchorEntry(idl.IdlStruct, typename="spatial.anchors.AnchorEntry"):
+    anchor_id: str
+    annotate.key("anchor_id")
+    name: str
+    geopose: 'spatialdds_idl18.spatial.anchors.GeoPose'
+    confidence: types.float64
+    tags: types.sequence[str, 8]
+    stamp: 'spatialdds_idl18.spatial.anchors.Time'
+    checksum: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AnchorSet(idl.IdlStruct, typename="spatial.anchors.AnchorSet"):
+    set_id: str
+    annotate.key("set_id")
+    title: str
+    provider_id: str
+    map_frame: 'spatialdds_idl18.spatial.anchors.FrameRef'
+    version: str
+    tags: types.sequence[str, 16]
+    center_lat: types.float64
+    center_lon: types.float64
+    radius_m: types.float64
+    anchors: types.sequence['spatialdds_idl18.spatial.anchors.AnchorEntry', 256]
+    stamp: 'spatialdds_idl18.spatial.anchors.Time'
+    checksum: str
+
+@annotate.final
+class AnchorOp(idl.IdlEnum, typename="spatial.anchors.AnchorOp", default="ADD"):
+    ADD = 0
+    UPDATE = 1
+    REMOVE = 2
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AnchorDelta(idl.IdlStruct, typename="spatial.anchors.AnchorDelta"):
+    set_id: str
+    annotate.key("set_id")
+    op: 'spatialdds_idl18.spatial.anchors.AnchorOp'
+    entry: 'spatialdds_idl18.spatial.anchors.AnchorEntry'
+    revision: types.uint64
+    stamp: 'spatialdds_idl18.spatial.anchors.Time'
+    post_checksum: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AnchorSetRequest(idl.IdlStruct, typename="spatial.anchors.AnchorSetRequest"):
+    set_id: str
+    annotate.key("set_id")
+    up_to_revision: types.uint64
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AnchorSetResponse(idl.IdlStruct, typename="spatial.anchors.AnchorSetResponse"):
+    set_id: str
+    annotate.key("set_id")
+    revision: types.uint64
+    set: 'spatialdds_idl18.spatial.anchors.AnchorSet'
+
+

spatialdds_idl18/spatial/argeo/__init__.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.argeo
+
+"""
+
+from ._argeo import CovMatrix, FrameRef, FramedPose, GeoPose, MODULE_ID, NodeGeo, PoseSE3, QualityRequirements, Time, VpsRequest, VpsResponse, VpsStatus
+__all__ = [
+	"CovMatrix",
+	"FrameRef",
+	"FramedPose",
+	"GeoPose",
+	"MODULE_ID",
+	"NodeGeo",
+	"PoseSE3",
+	"QualityRequirements",
+	"Time",
+	"VpsRequest",
+	"VpsResponse",
+	"VpsStatus",
+]

spatialdds_idl18/spatial/argeo/_argeo.py

@@ -0,0 +1,97 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.argeo
+  IDL file: argeo.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.common
+    import spatial.core
+
+
+MODULE_ID = "spatial.argeo/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.argeo.Time', 'spatialdds_idl18.builtin.Time']
+PoseSE3 = types.typedef['spatialdds_idl18.spatial.argeo.PoseSE3', 'spatialdds_idl18.spatial.core.PoseSE3']
+FramedPose = types.typedef['spatialdds_idl18.spatial.argeo.FramedPose', 'spatialdds_idl18.spatial.core.FramedPose']
+GeoPose = types.typedef['spatialdds_idl18.spatial.argeo.GeoPose', 'spatialdds_idl18.spatial.core.GeoPose']
+CovMatrix = types.typedef['spatialdds_idl18.spatial.argeo.CovMatrix', 'spatialdds_idl18.spatial.core.CovMatrix']
+FrameRef = types.typedef['spatialdds_idl18.spatial.argeo.FrameRef', 'spatialdds_idl18.spatial.common.FrameRef']
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class NodeGeo(idl.IdlStruct, typename="spatial.argeo.NodeGeo"):
+    map_id: str
+    node_id: str
+    annotate.key("node_id")
+    poses: types.sequence['spatialdds_idl18.spatial.argeo.FramedPose', 8]
+    has_geopose: bool
+    geopose: 'spatialdds_idl18.spatial.argeo.GeoPose'
+    source_id: str
+    seq: types.uint64
+    graph_epoch: types.uint64
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class QualityRequirements(idl.IdlStruct, typename="spatial.argeo.QualityRequirements"):
+    max_rmse_m: types.float64
+    min_confidence: types.float64
+
+@annotate.final
+class VpsStatus(idl.IdlEnum, typename="spatial.argeo.VpsStatus", default="VPS_SUCCESS"):
+    VPS_SUCCESS = 0
+    VPS_DEGRADED = 1
+    VPS_FAILED = 2
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class VpsRequest(idl.IdlStruct, typename="spatial.argeo.VpsRequest"):
+    query_id: str
+    annotate.key("query_id")
+    service_id: str
+    client_frame_ref: 'spatialdds_idl18.spatial.argeo.FrameRef'
+    has_prior_geopose: bool
+    prior_geopose: 'spatialdds_idl18.spatial.argeo.GeoPose'
+    query_blobs: types.sequence['spatialdds_idl18.spatial.core.BlobRef', 8]
+    query_stream_id: str
+    has_quality_requirements: bool
+    quality_requirements: 'spatialdds_idl18.spatial.argeo.QualityRequirements'
+    stamp: 'spatialdds_idl18.spatial.argeo.Time'
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class VpsResponse(idl.IdlStruct, typename="spatial.argeo.VpsResponse"):
+    query_id: str
+    annotate.key("query_id")
+    service_id: str
+    status: 'spatialdds_idl18.spatial.argeo.VpsStatus'
+    has_node_geo: bool
+    node_geo: 'spatialdds_idl18.spatial.argeo.NodeGeo'
+    confidence: types.float64
+    has_rmse_m: bool
+    rmse_m: types.float64
+    stamp: 'spatialdds_idl18.spatial.argeo.Time'
+
+

spatialdds_idl18/spatial/common/__init__.py

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+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.common
+
+"""
+
+from ._types import Aabb3D, AssetRef, BBox2D, CoordConvention, CovScope, CovarianceType, FrameRef, KV, Mat12x12, Mat3x3, Mat6x6, MetaKV, QuaternionXYZW, ScaleStatus, SpatialUri, Vec2, Vec3
+__all__ = [
+	"Aabb3D",
+	"AssetRef",
+	"BBox2D",
+	"CoordConvention",
+	"CovScope",
+	"CovarianceType",
+	"FrameRef",
+	"KV",
+	"Mat12x12",
+	"Mat3x3",
+	"Mat6x6",
+	"MetaKV",
+	"QuaternionXYZW",
+	"ScaleStatus",
+	"SpatialUri",
+	"Vec2",
+	"Vec3",
+]

spatialdds_idl18/spatial/common/_types.py

@@ -0,0 +1,104 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.common
+  IDL file: types.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+BBox2D = types.typedef['spatialdds_idl18.spatial.common.BBox2D', types.array[types.float64, 4]]
+Aabb3D = types.typedef['spatialdds_idl18.spatial.common.Aabb3D', types.array[types.float64, 6]]
+Vec3 = types.typedef['spatialdds_idl18.spatial.common.Vec3', types.array[types.float64, 3]]
+Mat3x3 = types.typedef['spatialdds_idl18.spatial.common.Mat3x3', types.array[types.float64, 9]]
+Mat6x6 = types.typedef['spatialdds_idl18.spatial.common.Mat6x6', types.array[types.float64, 36]]
+Mat12x12 = types.typedef['spatialdds_idl18.spatial.common.Mat12x12', types.array[types.float64, 144]]
+QuaternionXYZW = types.typedef['spatialdds_idl18.spatial.common.QuaternionXYZW', types.array[types.float64, 4]]
+SpatialUri = types.typedef['spatialdds_idl18.spatial.common.SpatialUri', str]
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Vec2(idl.IdlStruct, typename="spatial.common.Vec2"):
+    x: types.float64
+    y: types.float64
+
+@annotate.final
+class CovarianceType(idl.IdlEnum, typename="spatial.common.CovarianceType", default="COV_NONE"):
+    COV_NONE = 0
+    COV_POS3 = 3
+    COV_POSE6 = 6
+    COV_ROT3 = 9
+    COV_POSE6_TWIST6 = 12
+@annotate.final
+class CoordConvention(idl.IdlEnum, typename="spatial.common.CoordConvention", default="ENU"):
+    ENU = 0
+    CV = 1
+    GRAPHICS = 2
+    UNITY_LH = 3
+    NED = 4
+    OTHER = 5
+@annotate.final
+class ScaleStatus(idl.IdlEnum, typename="spatial.common.ScaleStatus", default="SCALE_UNKNOWN"):
+    SCALE_UNKNOWN = 0
+    SCALE_DECLARED = 1
+    SCALE_DERIVED = 2
+@annotate.final
+class CovScope(idl.IdlEnum, typename="spatial.common.CovScope", default="COV_SCOPE_LOCAL"):
+    COV_SCOPE_LOCAL = 0
+    COV_SCOPE_COMPOSED = 1
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class FrameRef(idl.IdlStruct, typename="spatial.common.FrameRef"):
+    uuid: str
+    fqn: str
+    has_coord_convention: bool
+    coord_convention: 'spatialdds_idl18.spatial.common.CoordConvention'
+    has_scale: bool
+    scale_status: 'spatialdds_idl18.spatial.common.ScaleStatus'
+    meters_per_unit: types.float64
+    display_unit: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class KV(idl.IdlStruct, typename="spatial.common.KV"):
+    key: str
+    value: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class MetaKV(idl.IdlStruct, typename="spatial.common.MetaKV"):
+    namespace: str
+    json: str
+    entries: types.sequence['spatialdds_idl18.spatial.common.KV', 64]
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class AssetRef(idl.IdlStruct, typename="spatial.common.AssetRef"):
+    uri: str
+    media_type: str
+    hash: str
+    meta: types.sequence['spatialdds_idl18.spatial.common.MetaKV', 16]
+
+

spatialdds_idl18/spatial/core/GnssService/__init__.py

@@ -0,0 +1,17 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.core.GnssService
+
+"""
+
+from ._core import BEIDOU, GALILEO, GLONASS, GPS, IRNSS, QZSS, SBAS_SV
+__all__ = [
+	"BEIDOU",
+	"GALILEO",
+	"GLONASS",
+	"GPS",
+	"IRNSS",
+	"QZSS",
+	"SBAS_SV",
+]

spatialdds_idl18/spatial/core/GnssService/_core.py

@@ -0,0 +1,27 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.core.GnssService
+  IDL file: core.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+from spatialdds_idl18 import spatial
+
+GPS = 1
+GLONASS = 2
+BEIDOU = 4
+GALILEO = 8
+QZSS = 16
+IRNSS = 32
+SBAS_SV = 64
+

spatialdds_idl18/spatial/core/__init__.py

@@ -0,0 +1,40 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.core
+
+"""
+
+from . import GnssService
+from ._core import Aabb3, BlobChunk, BlobRef, ComponentRef, CovMatrix, Edge, EdgeTypeCore, EntityBinding, FrameRef, FrameTransform, FramedPose, GeoAnchor, GeoPose, GnssFixType, MODULE_ID, NavSatStatus, Node, PatchOp, PlannedTrajectory, PlannedWaypoint, PoseSE3, SnapshotRequest, SnapshotResponse, SpatialUri, TileKey, TileMeta, TilePatch, Time
+__all__ = [
+	"GnssService",
+	"Aabb3",
+	"BlobChunk",
+	"BlobRef",
+	"ComponentRef",
+	"CovMatrix",
+	"Edge",
+	"EdgeTypeCore",
+	"EntityBinding",
+	"FrameRef",
+	"FrameTransform",
+	"FramedPose",
+	"GeoAnchor",
+	"GeoPose",
+	"GnssFixType",
+	"MODULE_ID",
+	"NavSatStatus",
+	"Node",
+	"PatchOp",
+	"PlannedTrajectory",
+	"PlannedWaypoint",
+	"PoseSE3",
+	"SnapshotRequest",
+	"SnapshotResponse",
+	"SpatialUri",
+	"TileKey",
+	"TileMeta",
+	"TilePatch",
+	"Time",
+]