zrm 0.0.1__tar.gz

zrm-0.0.1/PKG-INFO

@@ -0,0 +1,187 @@
+Metadata-Version: 2.3
+Name: zrm
+Version: 0.0.1
+Summary: Add your description here
+Author: JafarAbdi
+Author-email: JafarAbdi <jafar.uruc@gmail.com>
+Requires-Dist: eclipse-zenoh>=1.6.2
+Requires-Dist: protobuf>=6.33.0
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+
+# ZRM (Zenoh ROS-like Middleware)
+
+A minimal, single-file communication middleware built on Zenoh, providing a clean and simple API inspired by ROS2 patterns.
+
+## Features
+
+- **Minimalist**: Single-file implementation
+- **Type-safe**: Protobuf-based serialization with runtime type checking
+- **Ergonomic**: Pythonic API with sensible defaults
+
+## Installation
+
+```bash
+# Install dependencies using uv
+uv sync
+```
+
+## Quick Start
+
+### Publisher/Subscriber
+
+```python
+from zrm import Node
+from zrm.generated_protos import geometry_pb2
+
+# Create a node
+node = Node("my_node")
+
+# Create publisher and subscriber via node factory methods
+pub = node.create_publisher("robot/pose", geometry_pb2.Pose2D)
+sub = node.create_subscriber("robot/pose", geometry_pb2.Pose2D)
+
+# Publish a message
+pose = geometry_pb2.Pose2D(x=1.0, y=2.0, theta=0.5)
+pub.publish(pose)
+
+# Get latest message
+current_pose = sub.latest()
+if current_pose:
+    print(f"Position: x={current_pose.x}, y={current_pose.y}")
+
+# Clean up
+pub.close()
+sub.close()
+node.close()
+```
+
+### Subscriber with Callback
+
+```python
+def handle_pose(pose):
+    print(f"Received: x={pose.x}, y={pose.y}")
+
+node = Node("listener_node")
+sub = node.create_subscriber(
+    topic="robot/pose",
+    msg_type=geometry_pb2.Pose2D,
+    callback=handle_pose,
+)
+```
+
+### Service Server/Client
+
+Services use namespaced Request/Response messages for better organization:
+
+```python
+from zrm import Node
+from zrm.generated_protos import example_services_pb2
+
+# Define service handler
+def add_callback(req):
+    return example_services_pb2.AddTwoInts.Response(sum=req.a + req.b)
+
+# Create node
+node = Node("service_node")
+
+# Create service server via node factory method
+server = node.create_service(
+    service="add_two_ints",
+    service_type=example_services_pb2.AddTwoInts,
+    callback=add_callback,
+)
+
+# Create service client via node factory method
+client = node.create_client(
+    service="add_two_ints",
+    service_type=example_services_pb2.AddTwoInts,
+)
+
+# Call service
+request = example_services_pb2.AddTwoInts.Request(a=5, b=3)
+response = client.call(request)
+print(f"Sum: {response.sum}")  # Output: 8
+
+# Clean up
+client.close()
+server.close()
+node.close()
+```
+
+**Service Definition Pattern:**
+```protobuf
+// Services must have nested Request and Response messages
+message AddTwoInts {
+  message Request {
+    int32 a = 1;
+    int32 b = 2;
+  }
+
+  message Response {
+    int32 sum = 1;
+  }
+}
+```
+
+## Protobuf Workflow
+
+ZRM uses protobuf for all message serialization. Standard message definitions are in `proto/`.
+
+### Generating Python Code
+
+```bash
+# Generate Python code from proto files
+./protoc-33.0-linux-x86_64/bin/protoc \
+  --pyi_out=src/zrm/generated_protos \
+  --python_out=src/zrm/generated_protos \
+  -Iproto \
+  $(fd --extension proto)
+```
+
+### Standard Messages
+
+- **geometry.proto**: Point, Vector3, Quaternion, Pose, Pose2D, Twist, PoseStamped
+- **services.proto**: Trigger
+
+## Architecture
+
+### Node-Based Design
+- **Node as factory**: All Publishers, Subscribers, Services, and Clients are created through `Node` factory methods
+- **Context management**: Global `Context` holds the Zenoh session and domain configuration
+- **Lazy initialization**: Global context created on first node instantiation
+
+### Session Management
+- **Single session**: One Zenoh session shared across all nodes and components
+- **Thread-safe**: Context creation uses double-checked locking
+
+### Serialization
+- **Protobuf-based**: All messages serialized with `msg.SerializeToString()`
+- **Type enforcement**: Runtime validation via `isinstance()`
+
+## CLI Tools
+
+ZRM provides command-line tools for inspecting the network:
+
+```bash
+# List all nodes in the network
+uv run zrm-nodes
+
+# List all topics and their publishers/subscribers
+uv run zrm-topics
+
+# List all services in the network
+uv run zrm-services
+```
+
+## Examples
+
+See `examples/` directory for complete working examples:
+- `talker.py` / `listener.py`: Basic publisher/subscriber pattern
+- `service_server.py` / `service_client.py`: Service request/response pattern
+- Graph discovery and introspection
+
+## Acknowledgements
+
+- The Graph class is inspired by [ros-z](https://github.com/ZettaScaleLabs/ros-z)
+- Built on [Eclipse Zenoh](https://zenoh.io/) for efficient pub/sub and query/reply patterns

zrm-0.0.1/README.md

@@ -0,0 +1,176 @@
+# ZRM (Zenoh ROS-like Middleware)
+
+A minimal, single-file communication middleware built on Zenoh, providing a clean and simple API inspired by ROS2 patterns.
+
+## Features
+
+- **Minimalist**: Single-file implementation
+- **Type-safe**: Protobuf-based serialization with runtime type checking
+- **Ergonomic**: Pythonic API with sensible defaults
+
+## Installation
+
+```bash
+# Install dependencies using uv
+uv sync
+```
+
+## Quick Start
+
+### Publisher/Subscriber
+
+```python
+from zrm import Node
+from zrm.generated_protos import geometry_pb2
+
+# Create a node
+node = Node("my_node")
+
+# Create publisher and subscriber via node factory methods
+pub = node.create_publisher("robot/pose", geometry_pb2.Pose2D)
+sub = node.create_subscriber("robot/pose", geometry_pb2.Pose2D)
+
+# Publish a message
+pose = geometry_pb2.Pose2D(x=1.0, y=2.0, theta=0.5)
+pub.publish(pose)
+
+# Get latest message
+current_pose = sub.latest()
+if current_pose:
+    print(f"Position: x={current_pose.x}, y={current_pose.y}")
+
+# Clean up
+pub.close()
+sub.close()
+node.close()
+```
+
+### Subscriber with Callback
+
+```python
+def handle_pose(pose):
+    print(f"Received: x={pose.x}, y={pose.y}")
+
+node = Node("listener_node")
+sub = node.create_subscriber(
+    topic="robot/pose",
+    msg_type=geometry_pb2.Pose2D,
+    callback=handle_pose,
+)
+```
+
+### Service Server/Client
+
+Services use namespaced Request/Response messages for better organization:
+
+```python
+from zrm import Node
+from zrm.generated_protos import example_services_pb2
+
+# Define service handler
+def add_callback(req):
+    return example_services_pb2.AddTwoInts.Response(sum=req.a + req.b)
+
+# Create node
+node = Node("service_node")
+
+# Create service server via node factory method
+server = node.create_service(
+    service="add_two_ints",
+    service_type=example_services_pb2.AddTwoInts,
+    callback=add_callback,
+)
+
+# Create service client via node factory method
+client = node.create_client(
+    service="add_two_ints",
+    service_type=example_services_pb2.AddTwoInts,
+)
+
+# Call service
+request = example_services_pb2.AddTwoInts.Request(a=5, b=3)
+response = client.call(request)
+print(f"Sum: {response.sum}")  # Output: 8
+
+# Clean up
+client.close()
+server.close()
+node.close()
+```
+
+**Service Definition Pattern:**
+```protobuf
+// Services must have nested Request and Response messages
+message AddTwoInts {
+  message Request {
+    int32 a = 1;
+    int32 b = 2;
+  }
+
+  message Response {
+    int32 sum = 1;
+  }
+}
+```
+
+## Protobuf Workflow
+
+ZRM uses protobuf for all message serialization. Standard message definitions are in `proto/`.
+
+### Generating Python Code
+
+```bash
+# Generate Python code from proto files
+./protoc-33.0-linux-x86_64/bin/protoc \
+  --pyi_out=src/zrm/generated_protos \
+  --python_out=src/zrm/generated_protos \
+  -Iproto \
+  $(fd --extension proto)
+```
+
+### Standard Messages
+
+- **geometry.proto**: Point, Vector3, Quaternion, Pose, Pose2D, Twist, PoseStamped
+- **services.proto**: Trigger
+
+## Architecture
+
+### Node-Based Design
+- **Node as factory**: All Publishers, Subscribers, Services, and Clients are created through `Node` factory methods
+- **Context management**: Global `Context` holds the Zenoh session and domain configuration
+- **Lazy initialization**: Global context created on first node instantiation
+
+### Session Management
+- **Single session**: One Zenoh session shared across all nodes and components
+- **Thread-safe**: Context creation uses double-checked locking
+
+### Serialization
+- **Protobuf-based**: All messages serialized with `msg.SerializeToString()`
+- **Type enforcement**: Runtime validation via `isinstance()`
+
+## CLI Tools
+
+ZRM provides command-line tools for inspecting the network:
+
+```bash
+# List all nodes in the network
+uv run zrm-nodes
+
+# List all topics and their publishers/subscribers
+uv run zrm-topics
+
+# List all services in the network
+uv run zrm-services
+```
+
+## Examples
+
+See `examples/` directory for complete working examples:
+- `talker.py` / `listener.py`: Basic publisher/subscriber pattern
+- `service_server.py` / `service_client.py`: Service request/response pattern
+- Graph discovery and introspection
+
+## Acknowledgements
+
+- The Graph class is inspired by [ros-z](https://github.com/ZettaScaleLabs/ros-z)
+- Built on [Eclipse Zenoh](https://zenoh.io/) for efficient pub/sub and query/reply patterns

zrm-0.0.1/pyproject.toml

@@ -0,0 +1,20 @@
+[project]
+name            = "zrm"
+version         = "0.0.1"
+description     = "Add your description here"
+readme          = "README.md"
+authors         = [{ name = "JafarAbdi", email = "jafar.uruc@gmail.com" }]
+requires-python = ">=3.11"
+dependencies    = ["eclipse-zenoh>=1.6.2", "protobuf>=6.33.0"]
+
+[dependency-groups]
+dev = ["pre-commit>=4.2.0", "pytest>=8.4.1"]
+
+[project.scripts]
+zrm-nodes    = "zrm.cli.node:main"
+zrm-topics   = "zrm.cli.topic:main"
+zrm-services = "zrm.cli.service:main"
+
+[build-system]
+requires      = ["uv_build>=0.8.14,<0.9.0"]
+build-backend = "uv_build"