diff --git a/.agents/skills/g6-orientation/SKILL.md b/.agents/skills/g6-orientation/SKILL.md index 9a4b6637..ffd8f56d 100644 --- a/.agents/skills/g6-orientation/SKILL.md +++ b/.agents/skills/g6-orientation/SKILL.md @@ -42,7 +42,7 @@ interface. |---|---| | **reiserlab/maDisplayTools** | **MATLAB** tools (G4+). Pattern math reference — **web output must match MATLAB exactly** (CI validates, tol 1e-4). Its protocol **runner is G4.1-only and frozen** (decision 2026-10-26); protocol authority = `webDisplayTools/docs/development/v3-spec.md` + conformance fixtures. (Its `docs/development/G4G6_ROADMAP.md` is largely historical now — use the umbrella docs for current G6.) | | **reiserlab/LED-Display_pyDisplayTools** (pyDisplayTools) | **Python** tools for the displays (G4 pattern + experiment-folder tools). **Accepted destination** for the Python arena library and the **headless runner** (`arena-run`), a peer of the web runner (decision 2026-10-26). | -| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/rig/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. | +| **reiserlab/rig-nodes** | **Current location (since 2026-10-26)** of the shared ROS 2 infrastructure for every lab rig: `rig_interfaces` (FicTracFrame, ArenaFrame, ConnectorReply), the device adapters + simulators (FicTrac, Kinefly, BIAS, ScanImage; SiPM and the ScanImage frames node follow when their PRs land), the MCAP recorder/indexer/CDR decoder/Foxglove rewriter, the supervision primitives and the Zenoh configs, as the `rig_nodes` + `rig_interfaces` packages (one package-set version, conda channel at a release tag). `CONTRACT.md` there is the graph contract (topics, QoS, envelope, invariants). webDisplayTools' `rig/` installs the set and keeps only the arena gateway, composition and visualization. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. | ### G6 firmware (what the web connects to over USB) | repo | role | @@ -120,13 +120,15 @@ interface. (`CE_DISPLAY_ACTIVE`); STOP also blanks the panels (they latch the last frame). - **"Web is the runner"** (CSHL) — the browser **executes** the protocol, host-timed: `js/arena-runner-g6.js`. -- **FicTrac closed loop** — `fictrac_sim.py` (or real FicTrac) → **`fictrac-bridge/bridge.py`** +- **FicTrac closed loop** — the FicTrac simulator (`rig_nodes.sims.fictrac_sim`, rig-nodes; or real FicTrac) → **`fictrac-bridge/bridge.py`** (WebSocket `ws://localhost:8765` ← UDP `:60000`) → browser. `pixi run bridge` + `pixi run sim` (start the bridge first). The web runner executes only the `fictrac` and `log` plugins; `backlight`/`camera`/`temperature` are declared for MATLAB and **skipped on the web**. -- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `rig/` replaces the bridge with a graph +- **ROS 2 graph (LAB-303, released 2026-10-20/26)** — `rig/` replaces the bridge with a graph (rmw_zenoh, MCAP record, BIAS + ScanImage connectors) behind the SAME WebSocket; the Studio is - unchanged. Where the pieces will live from here: `rig-software-repos-and-runners.md` (above). + unchanged. Since 2026-10-26 the device nodes, simulators and recording primitives come from the + installed `rig_nodes` package (reiserlab/rig-nodes); `rig/` keeps the gateway (`bridge_node.py`), + the composition (`rig.py`) and the arena visualization. Record: `rig-software-repos-and-runners.md`. ## Pointers (go here for depth) diff --git a/.github/workflows/rig-interfaces.yml b/.github/workflows/rig-interfaces.yml deleted file mode 100644 index 215eccf9..00000000 --- a/.github/workflows/rig-interfaces.yml +++ /dev/null @@ -1,140 +0,0 @@ -# Build rig/interfaces/rig_interfaces (the typed ROS 2 messages of the arena bridge graph, -# LAB-303) ONCE per platform in CI and publish the result as a conda channel, so a rig PC installs -# typed messages as a download — no MSVC, no build backend, no MAX_PATH workaround. Decision and -# the consumer-side manifest edits: rig/docs/typed-distribution-decision.md; the measurements -# behind it: rig/docs/typed-windows.md. -# -# Runs: build-only on a PR that touches the package or this file (proves the three platforms still -# build); the `rig-interfaces-channel` artifact on every run; the hosted-channel upload only on an -# `rig-interfaces-v*` tag AND only when the repository variable RIG_INTERFACES_CHANNEL names a -# prefix.dev channel (with the PREFIX_API_KEY secret). Until the lab owns one, the channel artifact -# is committed into rig/channel/ by hand (the decision note has the recipe). -name: rig-interfaces - -on: - pull_request: - paths: - - 'rig/interfaces/**' - - '.github/workflows/rig-interfaces.yml' - push: - tags: ['rig-interfaces-v*'] - workflow_dispatch: - -permissions: - contents: read - -concurrency: - group: rig-interfaces-${{ github.event.pull_request.number || github.ref }} - cancel-in-progress: true - -env: - # The pixi + pixi-build-ros pair the package was last built and tested with (ww18 2026-10-16, - # docs/typed-windows.md). Bump deliberately: the backend is NOT in pixi.lock. - PIXI_VERSION: v0.80.0 - -jobs: - build: - name: build (${{ matrix.subdir }}) - strategy: - fail-fast: false - matrix: - include: - # windows-2022 carries VS 2022 → conda-forge's vs2022 activation finds the v143 - # toolset without the Build-Tools-2026 detour of docs/typed-windows.md W2. - - { os: windows-2022, subdir: win-64 } - - { os: macos-14, subdir: osx-arm64 } - - { os: ubuntu-24.04, subdir: linux-64 } - runs-on: ${{ matrix.os }} - defaults: - run: - shell: bash - working-directory: rig - steps: - - uses: actions/checkout@v7 - with: - persist-credentials: false - - uses: prefix-dev/setup-pixi@v0.10.2 - with: - pixi-version: ${{ env.PIXI_VERSION }} - run-install: false - # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\rig, 40 - # chars) plus the ~211 chars the rosidl build adds crosses 260. detached-environments - # moves .pixi (build workspace included) to a 4-char root — the ww18 recipe. - - name: Windows build root - if: runner.os == 'Windows' - run: pixi config set --local detached-environments 'C:\px' - - name: pixi build rig_interfaces - run: | - rm -rf ../dist - pixi build --path interfaces/rig_interfaces/pixi.toml --output-dir ../dist - mkdir -p ../dist/${{ matrix.subdir }} - mv ../dist/*.conda ../dist/${{ matrix.subdir }}/ - ls -la ../dist/${{ matrix.subdir }} - # The archive must be a well-formed .conda for the subdir it claims; `..` in a packaged - # path (the Windows bug the CMakeLists workaround covers) would already have failed above. - - name: inspect the package - run: | - f=$(ls ../dist/${{ matrix.subdir }}/*.conda) - python3 - "$f" <<'EOF' - import sys, zipfile - path = sys.argv[1] - names = zipfile.ZipFile(path).namelist() # a .conda = zip{pkg-*.tar.zst, info-*.tar.zst, metadata.json} - assert any(n.startswith("pkg-") for n in names) and any(n.startswith("info-") for n in names), names - print(path, names) - EOF - - uses: actions/upload-artifact@v5 - with: - name: rig_interfaces-${{ matrix.subdir }} - path: dist/${{ matrix.subdir }}/*.conda - if-no-files-found: error - retention-days: 30 - - channel: - name: channel (index + artifact) - needs: build - runs-on: ubuntu-24.04 - steps: - - uses: prefix-dev/setup-pixi@v0.10.2 - with: - pixi-version: ${{ env.PIXI_VERSION }} - run-install: false - # One artifact per subdir → channel//.conda (upload paths are relative to - # dist/, so the subdir is restored here from the artifact name). - - uses: actions/download-artifact@v5 - with: - pattern: rig_interfaces-* - path: artifacts - - name: assemble + index the channel - run: | - mkdir -p channel - for d in artifacts/rig_interfaces-*; do - subdir=${d#artifacts/rig_interfaces-} - mkdir -p "channel/$subdir" - cp "$d"/*.conda "channel/$subdir/" - done - pixi exec rattler-index fs channel - find channel -type f | sort - python3 - <<'EOF' - import json, pathlib - for rd in sorted(pathlib.Path("channel").glob("*/repodata.json")): - pk = json.load(open(rd))["packages.conda"] - for name, rec in pk.items(): - print(rd.parent.name, name, rec["sha256"], [d for d in rec["depends"] if d.startswith("ros2-distro-mutex")]) - EOF - # The deliverable: a complete three-platform channel. Commit it into rig/channel/ - # (decision note §"Releasing a new build") or let the step below upload it. - - uses: actions/upload-artifact@v5 - with: - name: rig-interfaces-channel - path: channel - if-no-files-found: error - retention-days: 90 - # Hosted channel (prefix.dev), only when the lab has one: set the repository variable - # RIG_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a - # PR build can never publish. - - name: upload to the hosted channel - if: startsWith(github.ref, 'refs/tags/rig-interfaces-v') && vars.RIG_INTERFACES_CHANNEL != '' - env: - PREFIX_API_KEY: ${{ secrets.PREFIX_API_KEY }} - RIG_INTERFACES_CHANNEL: ${{ vars.RIG_INTERFACES_CHANNEL }} - run: pixi exec rattler-build upload prefix --channel "$RIG_INTERFACES_CHANNEL" channel/*/*.conda diff --git a/CLAUDE.md b/CLAUDE.md index afbcb785..24ab1b0d 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -107,11 +107,18 @@ When editing web tools, audit all buttons and controls in the modified code sect - Dependencies via CDN or vendored under `js/vendor/` (e.g. `yaml`); no runtime npm - Web outputs must match MATLAB outputs exactly -**Repository boundaries (decision 2026-10-26):** `docs/development/rig-software-repos-and-runners.md` -is the record. The browser tools and their rig-side gateway (`rig/nodes/bridge_node.py`) stay -here; the Python arena library + headless runner go to `LED-Display_pyDisplayTools`; shared ROS 2 -infrastructure (interfaces, device nodes, recording, supervision) goes to `rig-nodes`, which does not -exist yet. Until the extraction session, every file is where the record's inventory says it is today. +**Repository boundaries (decision 2026-10-26; extraction done the same day):** +`docs/development/rig-software-repos-and-runners.md` is the record. The browser tools, their rig-side +gateway (`rig/nodes/bridge_node.py`), the arena composition (`rig/nodes/rig.py`, `rig/pixi.toml`) and the +arena visualization stay here; the Python arena library + headless runner go to +`LED-Display_pyDisplayTools` (LAB-337); shared ROS 2 infrastructure lives in **`reiserlab/rig-nodes`** +(`rig_interfaces`, the device adapters + simulators, `rig_nodes.recorder` / `mcap_index` / `cdr` / +`foxglove_json`, `rig_nodes.supervise`, the Zenoh configs; contract: its `CONTRACT.md`) and is INSTALLED +into `rig/` as the pinned `rig_nodes` + `rig_interfaces` packages from that repo's channel. A node fix +is tested here with `pixi install -e dev` (rig-nodes `main` built from source — git source dependencies, +NEVER path dependencies on a sibling checkout: pixi validates every environment's source paths before +installing any environment, which broke `pixi install` on rig PCs on 2026-10-27); a release of the set +re-pins `rig/pixi.toml`. Never re-add a device node or recorder copy under `rig/`. ### Dev environment (pixi — the only tool you install) diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md index 1dad60cb..c0e9724e 100644 --- a/docs/development/rig-software-repos-and-runners.md +++ b/docs/development/rig-software-repos-and-runners.md @@ -282,8 +282,11 @@ These items are the body of the rig-nodes ticket and apply to pyDisplayTools as `pixi install`. One tested package-set release per repository until independent cadence is demonstrated. Release gate: installed-package acceptance in a clean directory with the real JS client (today's harness runs source-tree files and a Python emulator). Retain an installable release - bundle so a channel outage never blocks a rig rebuild. Keep a sibling-checkout developer path (pixi - path dependencies) so a node fix never needs a release to test. + bundle so a channel outage never blocks a rig rebuild. Keep a developer path that builds rig-nodes from source so a + node fix never needs a release to test: pixi **git** source dependencies on rig-nodes `main`, + pinned in the lock (a local checkout by an uncommitted manifest edit) — not path dependencies on + a sibling checkout, because pixi validates every environment's source paths before installing any + environment and a rig PC has no such checkout (found 2026-10-27, ww18). 7. **Lock files and skew.** A supported-combination table (Studio × gateway × package sets) rather than "minimum tested version"; every package version written into `run_metadata`; the shared graph is single-host initially (`bridge_node` compares adapter and gateway monotonic clocks; Zenoh is @@ -375,6 +378,53 @@ The extraction session (LAB-338) starts from `rig/` on `main` with the §3.3 inv list; the open satellites above are the only in-flight changes under `rig/`. Nothing in this cleanup changed the inventory's destinations. +### Extraction done (2026-10-26) — what the runner planning session inherits + +- **`reiserlab/rig-nodes` exists** with the §3.3 "rig-nodes" set moved from `rig/` **with history** + (`git filter-repo` on `main` a8ef775; the pre-rename `ros2-poc/` paths included) and restructured + as two pixi packages released together under one version (**0.2.1**): `src/rig_interfaces` (the + 0.2.0 messages, host pinned to the RoboStack set the rigs run — `ros2-distro-mutex` 0.19 + + Python 3.12 on all three platforms; the 0.2.0 CI build had let two runners drift to 0.20 / + 3.14) and `src/rig_nodes` (noarch Python: `_common`, the FicTrac / Kinefly / BIAS / ScanImage + adapters + command tools, the simulators incl. `fictrac_sim`, `recorder`, `mcap_index`, the CDR + decoder `cdr` (ex `mcap_convert`), the generic `foxglove_json` with an `enrich` hook, `graph_dump`, + `build_interfaces`, and three new modules: `supervise` (the process-group / port-preflight / + `Child` primitives extracted from `rig.py`), `fictrac` (THE FicTrac line grammar, ex + `_rows.parse_fictrac_line`) and `zenoh` (the loopback configs shipped inside the package + + `rig-router`)). `CONTRACT.md` there is checklist item 1(b); device-instance namespacing stayed + with LAB-340. CI (`package-set.yml`) builds both packages on win-64 / osx-arm64 / linux-64, + checks every package's pins, indexes the channel and installs it in a clean directory on each + platform to run the repository's tests (item 6's release gate). Tests: `tests/test_pure.py` + (29 checks) and `tests/test_device_nodes.py` (48 checks: sims → nodes → topics → loss + accounting + the recorder), the rig-nodes half of item 8. +- **webDisplayTools `rig/`** keeps the §3.3 "stays" set and installs the package set from the + rig-nodes channel (`rig/pixi.toml`: `rig_nodes ==0.2.1`; the `typed` environment adds + `rig_interfaces ==0.2.1` in the SAME solve group, which the 0.2.0 pins had made impossible; the + `dev` environment swaps both for git source dependencies on rig-nodes `main`, pinned to one commit + in the lock — item 6's developer path; the first version used path dependencies on a sibling + checkout, which made `pixi install` fail on every machine without one and was replaced on + 2026-10-27). `rig.py` composes with `rig_nodes.supervise`; `bridge_node` imports + `rig_nodes._common` / `recorder` / `mcap_index` and writes the package-set versions into + `hello_ack` and the `/arena/session` record (item 7); `mcap_convert` and `_rows` import the + decoder and the FicTrac grammar; `foxglove_json` is the arena `enrich` wrapper. The harness + (`rig/tests/test_ros2_poc.py`) runs against the INSTALLED packages and is the cross-repository + smoke (item 8). `fictrac-bridge/fictrac_sim.py` moved too; the root `pixi run sim` delegates to + the `rig/` workspace. +- **Not moved, by the rule "anything doubtful stays":** `nodes/_rows.py` beyond the FicTrac parser + (behavior_v2 `kf` rows are arena format), the arena half of `foxglove_json.py`, every file the + inventory marks "stays"; `scanimage_frames_node` / SiPM / `bias_health` follow when #261, #266 + and #269 land (each PR rebases onto this move: its new node goes to rig-nodes, its gateway edits + stay). `.github/workflows/rig-interfaces.yml` left with the package. +- **State at the end of the session:** rig-nodes CI green on the three platforms (run + [40427967719](https://github.com/reiserlab/rig-nodes/actions/runs/40427967719), builds + channel + + clean-directory acceptance), tag `v0.2.1` placed on the release commit `e69ac22` (payload removed + again in `75b9986`), `rig/pixi.lock` re-locked on the tagged channel, webDisplayTools PR + [#274](https://github.com/reiserlab/webDisplayTools/pull/274) open. Open: the `okey-cokey` PR + #269 rebases over the move (it edits `rig.py`, `foxglove_json.py`, `viz_node.py`, adds + `bias_health.py`, which goes to rig-nodes); a Windows rig verifies `pixi install --locked` + the + harness (the `%CONDA_PREFIX%` activation paths ran only in rig-nodes' CI acceptance, not in this + workspace); LAB-337's runner planning session starts from the installed package set. + ## 10. Decided, hypotheses, commitments - **Decided:** the three repositories and their downward dependencies; two peer runners with the web diff --git a/fictrac-bridge/README.md b/fictrac-bridge/README.md index d0c634b0..3db8e55d 100644 --- a/fictrac-bridge/README.md +++ b/fictrac-bridge/README.md @@ -12,7 +12,7 @@ direction the browser sends JSON log events back, which the bridge appends to a └──────────▶ --log file (JSONL) ``` -For development without a camera or a real FicTrac install, `fictrac_sim.py` +For development without a camera or a real FicTrac install, the FicTrac simulator (`rig_nodes.sims.fictrac_sim` in reiserlab/rig-nodes since 2026-10-26, installed by the `rig/` workspace; `pixi run sim` here delegates to it) generates random-walk data in FicTrac's exact wire format. ## Why a bridge at all? @@ -390,6 +390,8 @@ bias, the rejection index and the idx-consistency check. ## fictrac_sim.py options +> Since 2026-10-26 the simulator is `rig_nodes.sims.fictrac_sim` (reiserlab/rig-nodes); the options below are unchanged (`pixi run sim -- --help`). + | Option | Default | Meaning | |---|---|---| | `file` (positional) | — | FicTrac log (CSV) to replay; omit to generate random data. | diff --git a/fictrac-bridge/fictrac_sim.py b/fictrac-bridge/fictrac_sim.py deleted file mode 100644 index 98879ad1..00000000 --- a/fictrac-bridge/fictrac_sim.py +++ /dev/null @@ -1,762 +0,0 @@ -#!/usr/bin/env python3 -"""fictrac_sim.py — emit FicTrac socket output: random data, a replayed log, or a model fly. - -FicTrac (https://github.com/rjdmoore/fictrac) streams one record per camera frame -as a comma-space-separated, newline-terminated line of 25 fields. This tool stands -in for FicTrac so the bridge, the browser closed-loop UI and a REAL ARENA can be -exercised without a camera, a ball or a fly. Four sources: - - (default) a smooth random walk (soak-harness knobs --turn-sigma / --jump-every) - fictrac_sim.py X.csv replay a FicTrac data log verbatim, paced by its column 22 - --replay run.jsonl.gz re-emit a REAL FLY's heading/position trace from one of our own - run logs (the behavior_v1/v2 rows [ms,fc,idx,ft,x,y,hd]) at the - original pacing — real saccade / bout / pause statistics, no model - --model fly a CLOSED-LOOP MODEL FLY: subscribes to the bridge's WebSocket, reads - the frame index the arena is showing, and turns toward the feature - (--kp, fixation) and/or with the world's motion (--kv, optomotor), - plus Ornstein–Uhlenbeck noise, Poisson saccades and walking bouts. - With a bias waveform installed (LAB-185) a --kp fly counter-turns; - with a mis-signed rig it drives the feature AWAY (anti-fixation) — - which is exactly what this mode is for. - -Sign conventions (the part worth reading twice): - * FicTrac's integrated heading (col 17) is a lab-frame rotation about +z, so it INCREASES - when the fly turns LEFT (counter-clockwise from above). The model fly follows that. - * Feature azimuth `az` is in the fly's view, degrees, positive = RIGHT, from the frame - index: az = wrap180(frame_dir · idx · deg_per_frame + feature_az0). `--frame-dir +1` - (default) means an index increase moves the feature rightward = the display turns - clockwise — the on-arena sign Isabel confirmed for a positive bias at gain +1.8. - * Fixation: turn TOWARD the feature → ω = −kp · az (az right → heading decreases = turn - right). Optomotor: follow the world → ω = −kv · d(az)/dt. If the arena shows the - feature running away from the model fly, the rig (or --frame-dir) has the wrong sign. - -Transport roles mirror real FicTrac so `bridge.py` is identical for sim and real: - --proto udp (default): FicTrac is the *sender*. This sim `sendto`s each line to - (host, port); the bridge binds and receives. - --proto tcp: FicTrac's TCP variant is a *server*. This sim listens and - accepts one client (the bridge), then streams to it. - -FicTrac output columns (1-based), per doc/data_header.txt: - 1 frame counter (starts at 1) - 2-4 delta rotation vector, camera coords (rad) - 5 rotation-estimate error score - 6-8 delta rotation vector, lab coords (rad) - 9-11 absolute orientation, camera coords (rad) - 12-14 absolute orientation, lab coords (rad) - 15-16 integrated x/y position, lab coords (rad; scale by ball radius) - 17 integrated animal heading, lab coords (rad) - 18 instantaneous movement direction, lab coords (rad) - 19 movement speed (rad/frame) - 20-21 integrated forward/side motion (rad) - 22 timestamp (video position or epoch ms) - 23 sequence counter within the current tracking sequence - 24 delta timestamp (ms) - 25 alt. timestamp (ms since midnight) -""" - -from __future__ import annotations - -import argparse -import gzip -import json -import math -import os -import random -import socket -import sys -import threading -import time - -N_FIELDS = 25 -DEFAULT_PORT = 60000 -TWO_PI = 2.0 * math.pi - - -def fmt_record(fields: list[float]) -> str: - """Format one record exactly like FicTrac: ', '-joined, newline-terminated. - - The frame counter (field 1) and sequence counter (field 23) are integers on - the wire; everything else is a float. - """ - out = [] - for i, v in enumerate(fields): - if i in (0, 22): # frame counter, sequence counter - out.append(str(int(v))) - else: - out.append(f"{v:.6f}") - return ", ".join(out) + "\n" - - -def wrap180(deg: float) -> float: - """Wrap degrees into [-180, 180).""" - return ((deg + 180.0) % 360.0) - 180.0 - - -def wrap_pi(rad: float) -> float: - """Wrap radians into [-π, π).""" - return ((rad + math.pi) % TWO_PI) - math.pi - - -def pack_record( - frame: int, - dt_ms: float, - heading: float, - d_head: float, - speed: float, - move_dir: float, - x: float, - y: float, - fwd: float, - side: float, - jitter=lambda sigma: 0.0, - ts_ms: float | None = None, -) -> list[float]: - """Pack the lab-frame state into the 25 FicTrac fields (all angles rad). - - `jitter(sigma)` fills the camera-frame / error columns nobody downstream reads with - small noise (the Walker) or zeros (replay, model). `heading` is wrapped to [0, 2π) - like FicTrac's col 17. `ts_ms` overrides the frame-derived timestamp (replay). - """ - if ts_ms is None: - ts_ms = frame * dt_ms - fields = [0.0] * N_FIELDS - fields[0] = frame # 1 - fields[1] = jitter(0.02) # 2-4 delta rot cam - fields[2] = jitter(0.02) - fields[3] = d_head + jitter(0.01) - fields[4] = abs(jitter(0.005)) # 5 error score - fields[5] = jitter(0.02) # 6-8 delta rot lab - fields[6] = jitter(0.02) - fields[7] = d_head - fields[8] = jitter(0.02) # 9-11 abs rot cam - fields[9] = jitter(0.02) - fields[10] = heading + jitter(0.01) - fields[11] = jitter(0.02) # 12-14 abs rot lab - fields[12] = jitter(0.02) - fields[13] = heading - fields[14] = x # 15-16 integrated x/y - fields[15] = y - fields[16] = heading % TWO_PI # 17 integrated heading - fields[17] = move_dir % TWO_PI # 18 movement direction - fields[18] = speed # 19 movement speed - fields[19] = fwd # 20-21 integrated fwd/side - fields[20] = side - # FicTrac writes field 22 in NANOSECONDS; the bridge divides it by FT_TS_NS_PER_MS to get ms - # (every simulator log before 2026-09-13 had ft 1000× too small — found by the telemetry - # logging review). Field 25 stays in ms as FicTrac's "ms since midnight". - fields[21] = ts_ms * 1_000_000.0 # 22 timestamp (ns) - fields[22] = frame # 23 sequence counter - fields[23] = dt_ms # 24 delta ms - fields[24] = ts_ms % 86_400_000.0 # 25 abs ms since midnight - return fields - - -class Walker: - """Smooth random walk producing deterministic FicTrac-like records. - - Deterministic given --seed: values come only from the seeded RNG and the - frame counter, never from the wall clock, so two runs with the same seed - emit byte-identical records regardless of pacing. - """ - - def __init__( - self, - rate_hz: float, - seed: int | None, - turn_sigma: float = 0.05, - jump_every: int = 0, - jump_deg: float = 90.0, - noise: float = 1.0, - ) -> None: - self.rng = random.Random(seed) - self.dt = 1.0 / rate_hz - self.dt_ms = 1000.0 * self.dt - self.noise = noise # scales every random-walk sigma (0 = a perfectly still ball) - # Soak-harness knobs (fw #50): `turn_sigma` is the per-frame heading step - # (rad) — 0.05 rad ≈ 2.9° ≈ ±1.6 frames/sample at the 1.8°/frame default - # gain, i.e. a FicTrac-like random walk that keeps the SD reads on the - # sequential fast path most of the time. `jump_every` > 0 adds a ±jump_deg - # heading jump every N frames — a wide seek that defeats that fast path. - self.turn_sigma = turn_sigma - self.jump_every = max(0, int(jump_every)) - self.jump_rad = math.radians(jump_deg) - self.frame = 0 - self.heading = 0.0 # integrated heading (rad), field 17 - self.x = 0.0 # integrated x (rad), field 15 - self.y = 0.0 # integrated y (rad), field 16 - self.fwd = 0.0 # integrated forward motion, field 20 - self.side = 0.0 # integrated side motion, field 21 - - def _gauss(self, sigma: float) -> float: - return self.rng.gauss(0.0, sigma * self.noise) - - def next_record(self) -> list[float]: - self.frame += 1 - - # Per-frame deltas: a small turn and a small forward step. - d_head = self._gauss(self.turn_sigma) - if self.jump_every and self.frame % self.jump_every == 0: - d_head += self.jump_rad if self.rng.random() < 0.5 else -self.jump_rad - speed = abs(self._gauss(0.03)) # rad/frame, field 19 - move_dir = self.heading + self._gauss(0.1) # field 18 - - # Integrate the lab-frame state. - self.heading = (self.heading + d_head) % TWO_PI - self.x += speed * math.cos(self.heading) - self.y += speed * math.sin(self.heading) - self.fwd += speed - self.side += speed * math.sin(d_head) - return pack_record( - self.frame, self.dt_ms, self.heading, d_head, speed, move_dir, - self.x, self.y, self.fwd, self.side, jitter=self._gauss, - ) - - -# ── model fly: a closed-loop agent that sees the displayed frame index ──────── -class ModelFly: - """A fly that turns toward a feature (fixation) and/or with the world (optomotor). - - Pure and deterministic given `seed`: `step(dt, az_deg)` advances the state by one - FicTrac frame given the feature's azimuth in the fly's view (deg, right = +, None - when the display has not been seen yet) and returns the packed record. All internal - angles are radians; the public knobs are degrees because that is how people think - about a fly on a ball. - - ω_target = −kp·az − kv·d(az)/dt (deg/s; heading is CCW-positive) - τ dω/dt = ω_target − ω (first-order turning response) - + OU noise (sigma `noise_dps`, time constant `noise_tau`) - + Poisson saccades (rate /s, amplitude ~ N(mean, 0.3·mean), fixed duration) - + walking bouts: two-state Markov (mean bout / pause seconds); a paused fly has - no fixation/optomotor drive, 20 % of the noise and zero forward speed - - kp is deg/s per deg of azimuth (2 ≈ brisk fixation), kv is dimensionless (1 = perfect - optomotor following). Both default to 0 so the fly is a noisy walker until asked. - """ - - def __init__( - self, - rate_hz: float, - seed: int | None = None, - kp: float = 0.0, - kv: float = 0.0, - tau_s: float = 0.1, - noise_dps: float = 30.0, - noise_tau_s: float = 0.3, - saccade_rate_hz: float = 0.5, - saccade_deg: float = 45.0, - saccade_ms: float = 80.0, - bout_s: float = 4.0, - pause_s: float = 0.0, - speed_rad_s: float = 0.6, - heading0_deg: float = 0.0, - ) -> None: - self.rng = random.Random(seed) - self.dt = 1.0 / rate_hz - self.dt_ms = 1000.0 * self.dt - self.kp = kp - self.kv = kv - self.tau = max(tau_s, self.dt) - self.noise_dps = noise_dps - self.noise_tau = max(noise_tau_s, self.dt) - self.saccade_rate = max(0.0, saccade_rate_hz) - self.saccade_deg = saccade_deg - self.saccade_frames = max(1, int(round(saccade_ms / 1000.0 / self.dt))) - self.bout_s = max(bout_s, self.dt) - self.pause_s = max(0.0, pause_s) - self.speed = speed_rad_s - self.omega_max = math.radians(1500.0) - # state - self.frame = 0 - self.heading = math.radians(heading0_deg) # rad, unwrapped - self.omega = 0.0 # rad/s, smooth turning - self.noise = 0.0 # rad/s, OU component - self.saccade_left = 0 # frames remaining in the current saccade - self.saccade_omega = 0.0 # rad/s during it - self.walking = True - self.prev_az: float | None = None - self.x = self.y = self.fwd = self.side = 0.0 - self.last_az: float | None = None - self.saccades = 0 - - # -- pieces (separately testable) -- - def _drive_dps(self, az_deg: float | None) -> float: - """Fixation + optomotor drive in deg/s (0 when the display is unseen or paused).""" - if az_deg is None or not self.walking: - self.prev_az = az_deg - return 0.0 - drive = -self.kp * az_deg - if self.kv and self.prev_az is not None: - v_az = wrap180(az_deg - self.prev_az) / self.dt # deg/s, right = + - drive -= self.kv * v_az - self.prev_az = az_deg - return drive - - def _maybe_saccade(self) -> None: - if self.saccade_left > 0 or self.saccade_rate <= 0: - return - if self.rng.random() < self.saccade_rate * self.dt: - amp = self.rng.gauss(self.saccade_deg, 0.3 * self.saccade_deg) - sign = 1.0 if self.rng.random() < 0.5 else -1.0 - self.saccade_left = self.saccade_frames - self.saccade_omega = math.radians(sign * amp) / (self.saccade_frames * self.dt) - self.saccades += 1 - - def _maybe_toggle_bout(self) -> None: - if self.pause_s <= 0: - self.walking = True - return - mean = self.bout_s if self.walking else self.pause_s - if self.rng.random() < self.dt / mean: - self.walking = not self.walking - - def step(self, az_deg: float | None) -> list[float]: - self.frame += 1 - self.last_az = az_deg - self._maybe_toggle_bout() - target = math.radians(self._drive_dps(az_deg)) - # first-order turning response - self.omega += (target - self.omega) * (self.dt / self.tau) - # Ornstein–Uhlenbeck noise (exact discretisation) - a = math.exp(-self.dt / self.noise_tau) - sigma = math.radians(self.noise_dps) * (1.0 if self.walking else 0.2) - self.noise = a * self.noise + sigma * math.sqrt(1.0 - a * a) * self.rng.gauss(0.0, 1.0) - # saccades - self._maybe_saccade() - sacc = 0.0 - if self.saccade_left > 0: - sacc = self.saccade_omega - self.saccade_left -= 1 - # A fly cannot spin faster than a saccade peak (~1500 °/s); a runaway loop (mis-signed - # optomotor) then reads as "spinning flat out" instead of an absurd number. - omega_total = max(-self.omega_max, min(self.omega_max, self.omega + self.noise + sacc)) - d_head = omega_total * self.dt - prev = self.heading - self.heading += d_head - speed = self.speed * self.dt * (1.0 if self.walking else 0.0) - speed *= max(0.0, 1.0 + self.rng.gauss(0.0, 0.2)) - self.x += speed * math.cos(self.heading) - self.y += speed * math.sin(self.heading) - self.fwd += speed - self.side += speed * math.sin(d_head) - move_dir = self.heading + self.rng.gauss(0.0, 0.1) - return pack_record( - self.frame, self.dt_ms, self.heading % TWO_PI, wrap_pi(self.heading - prev), - speed, move_dir, self.x, self.y, self.fwd, self.side, - ) - - -def feature_azimuth(idx: int, deg_per_frame: float, frame_dir: int, az0_deg: float) -> float: - """Azimuth (deg, right = +) of the pattern's feature when the arena shows frame `idx`.""" - return wrap180(frame_dir * idx * deg_per_frame + az0_deg) - - -class BridgeFrameFeed: - """Background WebSocket client: keeps the newest frame index the bridge published. - - The bridge broadcasts every `{"type":"frame","index":…}` to all clients, so the sim - can watch the loop it is driving. Reconnects forever; `latest()` → (index | None, age_s). - """ - - def __init__(self, url: str) -> None: - self.url = url - self._idx: int | None = None - self._t = 0.0 - self._connected = False - self._thread = threading.Thread(target=self._run, name="bridge-feed", daemon=True) - - def start(self) -> "BridgeFrameFeed": - self._thread.start() - return self - - @property - def connected(self) -> bool: - return self._connected - - def latest(self) -> tuple[int | None, float]: - return self._idx, (time.perf_counter() - self._t) if self._idx is not None else float("inf") - - def _run(self) -> None: - import asyncio - - from websockets.asyncio.client import connect # lazy: only the model fly needs it - - async def main() -> None: - while True: - try: - async with connect(self.url, max_size=16 * 1024 * 1024) as ws: - self._connected = True - print(f"[sim] watching frames on {self.url}", file=sys.stderr) - await ws.send(json.dumps({"type": "hello", "client": "fictrac_sim", "v": 1})) - async for raw in ws: - try: - m = json.loads(raw) - except ValueError: - continue - if isinstance(m, dict) and m.get("type") == "frame": - i = m.get("index") - if isinstance(i, (int, float)) and math.isfinite(i): - self._idx = int(i) - self._t = time.perf_counter() - except Exception as exc: # noqa: BLE001 — a dead bridge must not kill the sim - if self._connected: - print(f"[sim] bridge feed lost ({exc}); retrying", file=sys.stderr) - self._connected = False - await asyncio.sleep(2.0) - - asyncio.run(main()) - - -# ── transports: drive a `send` callable from a source (`emit`) ────────────── -def run_udp(host: str, port: int, emit) -> None: - sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - dst = (host, port) - print(f"[sim] UDP → {host}:{port} (Ctrl-C to stop)", file=sys.stderr) - emit(lambda b: sock.sendto(b, dst)) - - -def run_tcp(host: str, port: int, emit) -> None: - srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - srv.bind((host, port)) - srv.listen(1) - print(f"[sim] TCP server on {host}:{port} — waiting for a client …", file=sys.stderr) - while True: - conn, peer = srv.accept() - conn.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) - print(f"[sim] client connected from {peer[0]}:{peer[1]}", file=sys.stderr) - try: - emit(conn.sendall) - return # source finished - except (BrokenPipeError, ConnectionResetError): - print("[sim] client disconnected — waiting for a new one …", file=sys.stderr) - finally: - conn.close() - - -# ── sources: an `emit(send)` that decides what to send and when ───────────── -def _paced(rate_hz: float, count: int, make_record): - """Fixed-rate emitter (perf-counter schedule): send(make_record()) until count reached.""" - def emit(send) -> None: - dt = 1.0 / rate_hz - start = time.perf_counter() - n = 0 - while count <= 0 or n < count: - rec = make_record() - if rec is None: - return - send(fmt_record(rec).encode("ascii")) - n += 1 - target = start + n * dt - delay = target - time.perf_counter() - if delay > 0: - time.sleep(delay) - return emit - - -def emit_generated(walker: Walker, rate_hz: float, count: int): - """Synthetic random-walk records at a fixed rate (perf-counter schedule).""" - return _paced(rate_hz, count, walker.next_record) - - -def emit_model_fly( - fly: ModelFly, - feed: BridgeFrameFeed, - rate_hz: float, - count: int, - deg_per_frame: float, - frame_dir: int, - az0_deg: float, - stale_s: float = 1.0, - status_every_s: float = 1.0, -): - """Model-fly records at a fixed rate, steering on the frame the bridge last published. - - A frame older than `stale_s` (bridge not applying / no run) counts as "display unseen": - the fly free-runs on noise + saccades, so it keeps the ball moving between trials. - """ - state = {"next_status": 0.0} - - def make_record(): - idx, age = feed.latest() - az = feature_azimuth(idx, deg_per_frame, frame_dir, az0_deg) if idx is not None and age < stale_s else None - rec = fly.step(az) - now = time.perf_counter() - if status_every_s > 0 and now >= state["next_status"]: - state["next_status"] = now + status_every_s - seen = f"idx {idx:>3} az {az:+6.1f}°" if az is not None else "display unseen " - print( - f"[fly] {seen} | heading {math.degrees(fly.heading) % 360.0:6.1f}° " - f"ω {math.degrees(fly.omega + fly.noise):+6.1f}°/s {'walk' if fly.walking else 'pause'} " - f"saccades {fly.saccades}", - file=sys.stderr, - ) - return rec - - return _paced(rate_hz, count, make_record) - - -def load_fictrac_csv(path: str) -> list[tuple[float, bytes]]: - """Parse a FicTrac data log into (timestamp_ms, raw_line_bytes) rows. - - Rows are kept verbatim (re-sent byte-for-byte, original separators preserved). - Lines without ≥22 comma-separated fields or a numeric column 22 (header rows, - blanks, comments) are skipped. - """ - rows: list[tuple[float, bytes]] = [] - skipped = 0 - with open(path, "r", encoding="utf-8", errors="replace") as fh: - for line in fh: - text = line.strip() - if not text: - continue - parts = text.split(",") - if len(parts) < 22: - skipped += 1 - continue - try: - ts_ms = float(parts[21]) # column 22 (1-based) = timestamp (ms) - except ValueError: - skipped += 1 # header / non-numeric - continue - rows.append((ts_ms, (text + "\n").encode("ascii", errors="replace"))) - if skipped: - print(f"[sim] skipped {skipped} non-data line(s)", file=sys.stderr) - return rows - - -def emit_playback(rows: list[tuple[float, bytes]], speed: float): - """Replay recorded rows, paced by the inter-row Δ of column 22 (ms). - - First row goes immediately; non-increasing timestamps clamp to no delay; - `speed` > 1 plays faster. Plays once, then returns. - """ - def emit(send) -> None: - if not rows: - return - sched = time.perf_counter() - prev_ts = rows[0][0] - for ts_ms, raw in rows: - d = (ts_ms - prev_ts) / 1000.0 / speed - prev_ts = ts_ms - if d > 0: - sched += d - delay = sched - time.perf_counter() - if delay > 0: - time.sleep(delay) - send(raw) - return emit - - -# ── run-log replay: a real fly's trace from one of OUR logs ───────────────── -def load_runlog_rows(path: str) -> list[tuple[float, int, float, float, float]]: - """(ms, fc, x, y, hd) from a bridge run log (.jsonl or .jsonl.gz), any level. - - behavior_v1/v2 rows are `[ms, fc, idx, ft, x, y, hd]` (first element numeric); - `full`-level frames are `{"type":"fictrac_frame","fictrac":[25 cols]}`. String-tagged - arrays (`"a"`, `"cc"`, …) and every other object are skipped. `ms` restarts at 0 on - every log activation; the replay pacer treats a backwards step as no delay. - """ - rows: list[tuple[float, int, float, float, float]] = [] - opener = gzip.open if path.endswith(".gz") else open - with opener(path, "rt", encoding="utf-8", errors="replace") as fh: - for line in fh: - line = line.strip() - if not line: - continue - try: - o = json.loads(line) - except ValueError: - continue - if isinstance(o, list): - if len(o) >= 7 and isinstance(o[0], (int, float)) and o[6] is not None: - rows.append((float(o[0]), int(o[1]), float(o[4]), float(o[5]), float(o[6]))) - elif isinstance(o, dict) and o.get("type") == "fictrac_frame": - f = o.get("fictrac") - if isinstance(f, list) and len(f) >= 22: - rows.append((float(f[21]) / 1e6, int(f[0]), float(f[14]), float(f[15]), float(f[16]))) - return rows - - -def replay_records(rows, loop: bool = False, max_gap_ms: float = 1000.0): - """Generator of (delay_s, fields) from run-log rows, heading kept continuous across loops.""" - if not rows: - return - frame = 0 - head_off = 0.0 # keeps heading continuous when the file restarts - prev_hd = None - pass_no = 0 - while True: - prev_ms = rows[0][0] - first_hd = rows[0][4] - if prev_hd is not None: - head_off = prev_hd - first_hd # new pass starts where the last one ended - for ms, fc, x, y, hd in rows: - gap = ms - prev_ms - prev_ms = ms - delay = min(max(gap, 0.0), max_gap_ms) / 1000.0 - frame += 1 - heading = hd + head_off - d_head = 0.0 if prev_hd is None else wrap_pi(heading - prev_hd) - prev_hd = heading - yield delay, pack_record(frame, gap if gap > 0 else 0.0, heading, d_head, 0.0, heading, - x, y, 0.0, 0.0, ts_ms=ms + pass_no * (rows[-1][0] + 20.0)) - pass_no += 1 - if not loop: - return - - -def emit_runlog_replay(rows, speed: float, loop: bool): - """Re-emit a real fly's heading trace at (scaled) original pacing.""" - def emit(send) -> None: - sched = time.perf_counter() - for delay, fields in replay_records(rows, loop=loop): - sched += delay / speed - wait = sched - time.perf_counter() - if wait > 0: - time.sleep(wait) - send(fmt_record(fields).encode("ascii")) - return emit - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("file", nargs="?", help="FicTrac data log (CSV) to play back; omit to generate random data") - p.add_argument("--proto", choices=("udp", "tcp"), default="udp", help="transport (default: udp)") - p.add_argument("--host", default="127.0.0.1", help="UDP destination / TCP bind address (default: 127.0.0.1)") - p.add_argument("--port", type=int, default=DEFAULT_PORT, help=f"port (default: {DEFAULT_PORT})") - p.add_argument("--rate", type=float, default=50.0, help="generated/model mode: frames per second (default: 50)") - p.add_argument("--seed", type=int, default=None, help="generated/model mode: RNG seed for reproducible output") - p.add_argument( - "--noise", - type=float, - default=1.0, - help="generated mode: scales all random-walk noise sigmas (default: 1.0)", - ) - p.add_argument("--count", type=int, default=0, help="generated/model mode: frames to emit then exit (0 = forever)") - p.add_argument("--speed", type=float, default=1.0, help="playback/replay mode: speed multiplier (default: 1.0)") - p.add_argument( - "--turn-sigma", - type=float, - default=0.05, - help="generated mode: per-frame heading step sigma in rad (default 0.05 ≈ ±1.6 frames/sample " - "at gain 1.8; soak harness, fw #50)", - ) - p.add_argument( - "--jump-every", - type=int, - default=0, - help="generated mode: add a ±JUMP_DEG heading jump every N frames (0 = never); a wide " - "frame seek that defeats the SD sequential-read fast path", - ) - p.add_argument("--jump-deg", type=float, default=90.0, help="generated mode: jump size in degrees (default 90)") - - g = p.add_argument_group("run-log replay (a real fly's trace from one of our .jsonl[.gz] logs)") - g.add_argument("--replay", metavar="RUNLOG", help="re-emit the FicTrac rows of a bridge run log at original pacing") - g.add_argument("--loop", action="store_true", help="replay: start over when the log ends (heading stays continuous)") - - m = p.add_argument_group("model fly (closed loop: steers on the frame index the bridge publishes)") - m.add_argument("--model", choices=("fly",), help="use the model fly instead of the random walk") - m.add_argument("--bridge", default="ws://127.0.0.1:8765", help="bridge WebSocket to watch frames on (default: ws://127.0.0.1:8765)") - m.add_argument("--kp", type=float, default=0.0, help="fixation gain, deg/s per deg of feature azimuth (0 = off; try 2)") - m.add_argument("--kv", type=float, default=0.0, help="optomotor gain, fly ω / world ω (0 = off; 1 = perfect following)") - m.add_argument("--tau", type=float, default=0.1, help="turning-response time constant, s (default 0.1)") - m.add_argument("--noise-dps", type=float, default=30.0, help="Ornstein–Uhlenbeck turning noise sigma, deg/s (default 30)") - m.add_argument("--noise-tau", type=float, default=0.3, help="noise time constant, s (default 0.3)") - m.add_argument("--saccade-rate", type=float, default=0.5, help="saccades per second (default 0.5; 0 = none)") - m.add_argument("--saccade-deg", type=float, default=45.0, help="mean saccade amplitude, deg (default 45)") - m.add_argument("--saccade-ms", type=float, default=80.0, help="saccade duration, ms (default 80)") - m.add_argument("--bout-s", type=float, default=4.0, help="mean walking bout, s (default 4)") - m.add_argument("--pause-s", type=float, default=0.0, help="mean pause between bouts, s (default 0 = never pauses)") - m.add_argument("--speed-rad-s", type=float, default=0.6, help="forward speed while walking, ball rad/s (default 0.6)") - m.add_argument("--heading0", type=float, default=0.0, help="initial heading, deg (default 0)") - m.add_argument("--deg-per-frame", type=float, default=1.8, help="display degrees per frame index (default 1.8 = 360/200)") - m.add_argument("--frame-dir", type=int, choices=(1, -1), default=1, help="+1: an index increase moves the feature RIGHT (display clockwise; the confirmed sign at gain +1.8). -1 flips it") - m.add_argument("--feature-az0", type=float, default=0.0, help="feature azimuth at frame 0, deg, right = + (default 0 = frontal)") - m.add_argument("--stale-s", type=float, default=1.0, help="a published frame older than this counts as 'display unseen' (default 1.0)") - args = p.parse_args(argv) - - if args.replay is not None: - # ── run-log replay: a real fly's heading trace from a bridge log ── - if args.file is not None or args.model: - p.error("--replay cannot be combined with a CSV file or --model") - if not os.path.isfile(args.replay): - p.error(f"file not found: {args.replay}") - if args.speed <= 0: - p.error("--speed must be > 0") - rows = load_runlog_rows(args.replay) - if not rows: - p.error(f"no FicTrac rows found in {args.replay}") - span = sum(min(max(b[0] - a[0], 0.0), 1000.0) for a, b in zip(rows, rows[1:])) / 1000.0 / args.speed - print( - f"[sim] replaying {os.path.basename(args.replay)}: {len(rows)} FicTrac rows over ~{span:.0f}s " - f"(speed {args.speed:g}×{', looping' if args.loop else ''})", - file=sys.stderr, - ) - emit = emit_runlog_replay(rows, args.speed, args.loop) - elif args.file is not None: - # ── playback mode: replay a recorded FicTrac log, paced by column 22 ── - if not os.path.isfile(args.file): - p.error(f"file not found: {args.file}") - if args.speed <= 0: - p.error("--speed must be > 0") - rows = load_fictrac_csv(args.file) - if not rows: - p.error(f"no FicTrac data rows found in {args.file}") - span = (rows[-1][0] - rows[0][0]) / 1000.0 / args.speed - print( - f"[sim] playing back {args.file}: {len(rows)} rows over ~{span:.1f}s " - f"(speed {args.speed:g}×)", - file=sys.stderr, - ) - emit = emit_playback(rows, args.speed) - elif args.model == "fly": - # ── model fly: closed loop through the real bridge / browser / arena ── - if args.rate <= 0: - p.error("--rate must be > 0") - if args.deg_per_frame <= 0: - p.error("--deg-per-frame must be > 0") - fly = ModelFly( - rate_hz=args.rate, seed=args.seed, kp=args.kp, kv=args.kv, tau_s=args.tau, - noise_dps=args.noise_dps, noise_tau_s=args.noise_tau, - saccade_rate_hz=args.saccade_rate, saccade_deg=args.saccade_deg, saccade_ms=args.saccade_ms, - bout_s=args.bout_s, pause_s=args.pause_s, speed_rad_s=args.speed_rad_s, heading0_deg=args.heading0, - ) - feed = BridgeFrameFeed(args.bridge).start() - print( - f"[sim] model fly: kp={args.kp:g} kv={args.kv:g} tau={args.tau:g}s noise={args.noise_dps:g}°/s " - f"saccades {args.saccade_rate:g}/s×{args.saccade_deg:g}° pause={args.pause_s:g}s | " - f"feature az = {args.frame_dir:+d}·idx·{args.deg_per_frame:g}° + {args.feature_az0:g}°", - file=sys.stderr, - ) - emit = emit_model_fly(fly, feed, args.rate, args.count, args.deg_per_frame, args.frame_dir, - args.feature_az0, stale_s=args.stale_s) - else: - # ── generated mode: synthetic random walk ── - if args.rate <= 0: - p.error("--rate must be > 0") - if args.noise < 0: - p.error("--noise must be >= 0") - if args.turn_sigma < 0 or args.jump_every < 0: - p.error("--turn-sigma and --jump-every must be >= 0") - walker = Walker( - rate_hz=args.rate, - seed=args.seed, - turn_sigma=args.turn_sigma, - jump_every=args.jump_every, - jump_deg=args.jump_deg, - noise=args.noise, - ) - emit = emit_generated(walker, args.rate, args.count) - - try: - if args.proto == "udp": - run_udp(args.host, args.port, emit) - else: - run_tcp(args.host, args.port, emit) - except KeyboardInterrupt: - print("\n[sim] stopped", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/pixi.toml b/pixi.toml index cd199ced..531acf76 100644 --- a/pixi.toml +++ b/pixi.toml @@ -14,7 +14,9 @@ PYTHONUTF8 = "1" # ── FicTrac closed-loop bridge (see fictrac-bridge/README.md) ─────────────── # Forward args after `--`, e.g. pixi run bridge -- --proto tcp --frames 60 --log run.jsonl bridge = "python fictrac-bridge/bridge.py" -sim = "python fictrac-bridge/fictrac_sim.py" +# The FicTrac simulator moved to reiserlab/rig-nodes (rig_nodes.sims.fictrac_sim, 2026-10-26); it is +# installed in the rig/ workspace, so this delegates there (`cd rig && pixi install` once). +sim = "pixi run --manifest-path rig/pixi.toml sim" serve = "python -m http.server 8000 --bind 127.0.0.1" # ── JS dev tooling (Node + Prettier come from conda-forge — no npm) ───────── diff --git a/rig/README.md b/rig/README.md index 42909b42..b3aa5a11 100644 --- a/rig/README.md +++ b/rig/README.md @@ -9,6 +9,21 @@ comment holds the acceptance criteria), `docs/development/bridge-connectors-exec This directory is its own pixi workspace. The root `pixi.toml` and `fictrac-bridge/` are untouched, so bridge 3.4 (`pixi run bridge` at the repo root) stays installed side by side. +> **Since 2026-10-26 (LAB-338):** the shared part of this graph — `rig_interfaces`, the device +> adapters and simulators (FicTrac, Kinefly, BIAS, ScanImage), the MCAP recorder/indexer, the CDR +> decoder, the generic Foxglove rewriter, the supervision primitives, the Zenoh configs and the +> benches — lives in **[reiserlab/rig-nodes](https://github.com/reiserlab/rig-nodes)** and is +> installed here as the pinned `rig_nodes` (+ opt-in `rig_interfaces`) packages from that repo's +> channel (`pixi.toml`). What stays here is the arena's own: the Studio gateway `nodes/bridge_node.py`, +> the behavior_v2 converter `nodes/mcap_convert.py` + `nodes/_rows.py`, the composition `nodes/rig.py`, +> the arena visualization (`nodes/viz_node.py`, `nodes/foxglove_json.py`'s arena derivations, +> `foxglove/`), the Studio emulator and this harness. Device nodes are started as +> `python -m rig_nodes.` / the `rig-*` console scripts; a node fix is tested here with +> `pixi install -e dev` (rig-nodes `main` built from source through git source dependencies pinned in +> `pixi.lock`; the manifest comment says how to point it at a local checkout without committing that — +> never path dependencies on a sibling checkout, which broke `pixi install` on rig PCs without one). +> The graph contract is rig-nodes' `CONTRACT.md`. The sections below are the build record and keep their original paths. + ``` fictrac_sim.py / FicTrac ──UDP :60000──▶ fictrac_udp_adapter ──/fictrac/raw──▶┐ Kinefly (KF/1) ──UDP :60001──▶ kinefly_udp_adapter ──/kinefly/raw──▶│ bridge_node ──ws://localhost:8765──▶ Arena Studio (unmodified) @@ -21,7 +36,8 @@ untouched, so bridge 3.4 (`pixi run bridge` at the repo root) stays installed si ```bash cd rig -pixi install # RoboStack Jazzy ros-base + rmw_zenoh + demo nodes + websockets/pyzmq (≈1.3 GB) +pixi install # RoboStack Jazzy ros-base + rmw_zenoh + rosbag2/MCAP + rig_nodes from the rig-nodes channel (≈1.3 GB) +pixi install -e typed # + rig_interfaces (typed /fictrac/frame + /arena/frame), same RoboStack set, no compiler pixi run rig # router + FicTrac adapter + bridge node → Studio connects to ws://localhost:8765 pixi run rig -- --kinefly --bias # + Kinefly KF/1 adapter + BIAS node pixi run rig -- --sim --bias --bias-sim # demo with no hardware: FicTrac sim + a fake BIAS program @@ -32,19 +48,19 @@ Pieces, individually (each is also a `pixi run` task; `--help` on every script): | task | what | |---|---| -| `router` | `ros2 run rmw_zenoh_cpp rmw_zenohd` with `config/zenoh-router.json5` (listens on `tcp/127.0.0.1:7447`) | +| `router` | `rig-router` (rig_nodes): `rmw_zenohd` with the package's loopback `zenoh-router.json5` (listens on `tcp/127.0.0.1:7447`) | | `talker` / `listener` | the stock `demo_nodes_py` pair — the first thing to run on a new machine | | `fictrac-adapter` | UDP :60000 → `/fictrac/raw`; FicTrac's own `sock_port` stays what it is today | | `kinefly-adapter` | UDP :60001 → `/kinefly/raw`; accepts only `protocol: "Kinefly", version: 1` datagrams | | `bias-node` / `bias-cmd` | BIAS HTTP command port ⇄ `/bias/cmd`, `/bias/reply`, `/bias/status`; `bias-cmd` sends one plugin command | | `bridge-node` | bridge.py's `Hub` + `LogWriter` + `Pipeline` + `make_dispatcher` on ROS input; `/arena/frame` mirror | -| `sim` | the root `fictrac-bridge/fictrac_sim.py`, unmodified (`-- --model fly --kp 2` for a fixating fly) | +| `sim` | `rig-fictrac-sim` (rig_nodes.sims.fictrac_sim, moved from `fictrac-bridge/`; `-- --model fly --kp 2` for a fixating fly) | | `kinefly-sim` / `bias-sim` | synthetic KF/1 producer; a fake BIAS program (HTTP, state machine, writes the video file) | | `studio-emulator` | the Studio runner's exact bridge conversation, for machines without a browser | Environment set by the workspace (`[activation.env]`): `RMW_IMPLEMENTATION=rmw_zenoh_cpp`, `ZENOH_ROUTER_CHECK_ATTEMPTS=0` (nodes wait for the router), `ZENOH_ROUTER_CONFIG_URI` / -`ZENOH_SESSION_CONFIG_URI` → the two files under `config/` (stock rmw_zenoh configs with the +`ZENOH_SESSION_CONFIG_URI` → the two json5 files shipped inside the installed `rig_nodes` package (since 2026-10-26; before: `config/`; stock rmw_zenoh configs with the endpoint changed from `tcp/[::]:7447` / `tcp/localhost:7447` to `tcp/127.0.0.1:7447`: the stock router fails on a host without IPv6, and a rig's graph should not be reachable from the lab network anyway). The two config paths use `$PIXI_PROJECT_ROOT`; `rig.py` sets them diff --git a/rig/WINDOWS-TEST.md b/rig/WINDOWS-TEST.md index 02bdcf9d..a0701fa3 100644 --- a/rig/WINDOWS-TEST.md +++ b/rig/WINDOWS-TEST.md @@ -129,12 +129,12 @@ Expected: a real path ending in `rig\config\zenoh-router.json5`. If it prints th config (or fail); `pixi run rig` is unaffected because `rig.py` sets both paths itself. **Write down which of the two you saw.** -**1b. The `typed` environment** (builds our three `.msg` types from source through pixi-build-ros; -needs MSVC — this is the LAB-303 cost measurement, and it is allowed to fail): +**1b. The `typed` environment** (since 2026-10-26: downloads `rig_interfaces` from the rig-nodes +channel — no MSVC, no build; the source build is the rig-nodes workspace itself, or `pixi install -e dev` here): ```powershell Measure-Command { pixi install --locked -e typed | Out-Default } -pixi run -e typed python nodes\build_interfaces.py --check +pixi run -e typed check-typed ``` Record: wall time; success or the **first error verbatim** (the expected failure without Build @@ -161,7 +161,7 @@ whether the router keeps running after Ctrl-C (`tasklist | findstr rmw_zenohd`). pixi run test -- --keep ``` -Expected: `46 / 46 checks passed` in about a minute and a line `artifacts kept in …`. Keep that +Expected: `59 / 59 checks passed` (62 / 62 with `-e typed`) in about a minute and a line `artifacts kept in …`. Keep that directory (`summary.md`, `crash-results.json`, the converted export, `runlogs\*.bag`, `proc-logs\`). Windows-specific things it exercises for the first time: child processes in their own group, `CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run kills (the FicTrac adapter @@ -349,7 +349,9 @@ Repeat step 3 and step 5 with `-e typed` (`pixi run -e typed test -- --keep`, `p Expected differences: `typed=True` in the bridge banner, `/fictrac/frame` + `/arena/frame` as `rig_interfaces/msg/…` in `ros2 bag info`, the harness line `info typed topics: True`. -## 7b. Typed messages on a PC WITHOUT Visual Studio (`typed-prebuilt`, ~10 minutes) +## 7b. Typed messages on a PC WITHOUT Visual Studio (~10 minutes) + +> 2026-10-26: `typed-prebuilt` IS `typed` now (the channel package from reiserlab/rig-nodes); read `typed` for every `typed-prebuilt` below, `pixi run -e typed check-typed` for the `--check` line. Kept as the ww18 record. The no-compiler route (`docs/typed-windows.md` §5): the `typed-prebuilt` environment downloads an `rig_interfaces` built once on ww18 (`channel/`, read from raw.githubusercontent.com) instead of diff --git a/rig/channel/README.md b/rig/channel/README.md deleted file mode 100644 index 3fb4a04a..00000000 --- a/rig/channel/README.md +++ /dev/null @@ -1,42 +0,0 @@ -# rig/channel — the CI-built `rig_interfaces` conda channel - -A conda channel with one package, `rig_interfaces` (the typed ROS 2 messages of the rig graph: -`FicTracFrame`, `ArenaFrame`, `ConnectorReply`), read by the opt-in `typed-prebuilt` environment in -`../pixi.toml` over raw.githubusercontent.com, pinned to the commit that holds the payload, so a -rig PC **without a compiler** installs typed messages as a download. Built by -`.github/workflows/rig-interfaces.yml` (decision: `../docs/typed-distribution-decision.md`); the -recipe for the next rebuild is in that note under "Releasing a new build". - -**The package payload is not in the tree.** Like the 2026-10-18 removal of the first (win-64) -payload, the `/` directories are committed ONCE (the "payload commit" the `typed-prebuilt` -URL in `../pixi.toml` pins) and removed again in the next commit; git history serves the pinned -URL. This README stays as the record of what was built. - -## rig_interfaces 0.2.0 (2026-10-26) - -Built by the `rig-interfaces` workflow run -[40401906061](https://github.com/reiserlab/webDisplayTools/actions/runs/40401906061) from commit -`eb2bf01` (the rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; PR -[#270](https://github.com/reiserlab/webDisplayTools/pull/270)) with pixi 0.80.0 and the RoboStack -`pixi-build-ros` backend, indexed with `rattler-index`; three platforms plus an empty `noarch/`: - -| subdir | file | sha256 | `ros2-distro-mutex` pin | Python | -|---|---|---|---|---| -| `win-64` | `rig_interfaces-0.2.0-ha41a7fa_0.conda` | `5104b3d9b166fae11d9b0f27baf70cb71afcea6514f0e56943387e7d75a6ed22` | `>=0.20.0,<0.21.0a0` | 3.14 | -| `osx-arm64` | `rig_interfaces-0.2.0-h60d57d3_0.conda` | `c5321504efbf9c53bc2460b3d716ec393b88b9b4202d19e91eca91989eb5c57d` | `>=0.16.0,<0.17.0a0` | 3.12 | -| `linux-64` | `rig_interfaces-0.2.0-hb0f4dca_0.conda` | `0d7489d26092ec4577b4bfff037381f4af4afa6fce7048eee8c265686c35d2b8` | `>=0.20.0,<0.21.0a0` | 3.14 | - -The mutex pins are whatever RoboStack Jazzy the build backend resolved on each runner that day -(the `prefix.dev/robostack-jazzy` mirror), NOT the `ros2-distro-mutex 0.19` the `poc` solve group -locks. `typed-prebuilt` is its own solve group, so it resolves its own RoboStack set per platform -around these pins. The tag `rig-interfaces-v0.2.0` is pending. - -## History - -- `arena_interfaces 0.1.0`, win-64 only (`arena_interfaces-0.1.0-ha41a7fa_0.conda`, sha256 - `5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883`): built 2026-10-16 on ww18 - from commit 4632674 with pixi 0.80.0 and pixi-build-ros 0.7.6.20261014.1408.4ef64dd - (`pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\chan`), depends on - `ros2-distro-mutex >=0.19,<0.20` and Python 3.12. Payload at commit `30512581` - (`ros2-poc/channel`), removed from the tree 2026-10-18. The OLD package name: nothing that - imports `rig_interfaces` may install it. diff --git a/rig/config/zenoh-router.json5 b/rig/config/zenoh-router.json5 deleted file mode 100644 index 735de3ad..00000000 --- a/rig/config/zenoh-router.json5 +++ /dev/null @@ -1,813 +0,0 @@ -/// This file attempts to list and document available configuration elements. -/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure. -/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice. -{ - /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted) - /// that zenoh runtime will use. - /// If not set, a random unsigned 128bit integer will be used. - /// WARNING: this id must be unique in your zenoh network. - // id: "1234567890abcdef", - - /// The node's mode (router, peer or client) - mode: "router", - - /// Which endpoints to connect to. E.g. tcp/localhost:7447. - /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup. - /// - /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to: - /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0 - /// - /// It is also possible to specify a priority range and/or a reliability setting to be used on the link. - /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link. - /// - /// For TCP and TLS links, it is possible to specify the TCP buffer sizes: - /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000 - /// For TCP, UDP, Quic and TLS links, it is possible to specify a `bind` address for the local socket: - /// E.g. tcp/192.168.0.1:7447#bind=192.168.0.1:0 - /// Note!: Currently it is unsupported to specify both `bind` and `iface`. - /// - /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header: - /// E.g. tcp/192.168.0.1:7447#dscp=0x08 - connect: { - /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout) - /// Accepts a single value (e.g. timeout_ms: 0) - /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }). - timeout_ms: { router: -1, peer: -1, client: 0 }, - - /// The list of endpoints to connect to. - /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"]) - /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }). - /// - /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html - endpoints: [ - // "/
" - ], - - /// Global connect configuration, - /// Accepts a single value or different values for router, peer and client. - /// The configuration can also be specified for the separate endpoint - /// it will override the global one - /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000" - - /// exit from application, if timeout exceed - exit_on_failure: { router: false, peer: false, client: true }, - /// connect establishing retry configuration - retry: { - /// initial wait timeout until next connect try - period_init_ms: 1000, - /// maximum wait timeout until next connect try - period_max_ms: 4000, - /// increase factor for the next timeout until nexti connect try - period_increase_factor: 2, - }, - }, - - /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447. - /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers, - /// peers, or client can use to establish a zenoh session. - /// - /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to: - /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0 - /// - /// It is also possible to specify a priority range and/or a reliability setting to be used on the link. - /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link. - /// - /// For TCP and TLS links, it is possible to specify the TCP buffer sizes: - /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000 - /// - /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header: - /// E.g. tcp/192.168.0.1:7447#dscp=0x08 - listen: { - /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout) - /// Accepts a single value (e.g. timeout_ms: 0) - /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }). - timeout_ms: 0, - - /// The list of endpoints to listen on. - /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"]) - /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }). - /// - /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html - endpoints: [ - "tcp/127.0.0.1:7447" - ], - - /// Global listen configuration, - /// Accepts a single value or different values for router, peer and client. - /// The configuration can also be specified for the separate endpoint - /// it will override the global one - /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000" - - /// exit from application, if timeout exceed - exit_on_failure: true, - /// listen retry configuration - retry: { - /// initial wait timeout until next try - period_init_ms: 1000, - /// maximum wait timeout until next try - period_max_ms: 4000, - /// increase factor for the next timeout until next try - period_increase_factor: 2, - }, - }, - - /// Configure the session open behavior. - open: { - /// Configure the conditions to be met before session open returns. - return_conditions: { - /// Session open waits to connect to scouted peers and routers before returning. - /// When set to false, first publications and queries after session open from peers may be lost. - connect_scouted: true, - /// Session open waits to receive initial declares from connected peers before returning. - /// Setting to false may cause extra traffic at startup from peers. - declares: true, - }, - }, - - /// Configure the scouting mechanisms and their behaviours - scouting: { - /// In client mode, the period in milliseconds dedicated to scouting for a router before failing. - timeout: 3000, - /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations. - delay: 500, - /// The multicast scouting configuration. - multicast: { - /// Whether multicast scouting is enabled or not - /// - /// ROS setting: disable multicast discovery by default - enabled: false, - /// The socket which should be used for multicast scouting - address: "224.0.0.224:7446", - /// The network interface which should be used for multicast scouting - interface: "auto", // If not set or set to "auto" the interface if picked automatically - /// The time-to-live on multicast scouting packets - ttl: 1, - /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast. - /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router, peer or client mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }). - /// Each value is a list of: "peer", "router" and/or "client". - autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] }, - /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly. - /// Possible options are: - /// - "always": always attempt to autoconnect, may result in redundant connections. - /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's. - /// If both nodes use this strategy, only one will attempt the connection. - /// This strategy may not be suited if one of the nodes is not reachable by the other one, for example - /// because of a private IP. - /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to, - /// or different values for router and/or peer depending on the type of node detected - /// (e.g. autoconnect_strategy : { to_router: "always", to_peer: "greater-zid" }), - /// or different values for router or peer mode - /// (e.g. autoconnect_strategy : { peer: { to_router: "always", to_peer: "greater-zid" } }). - autoconnect_strategy: { router: { to_router: "always", to_peer: "always" } }, - /// Whether or not to listen for scout messages on UDP multicast and reply to them. - listen: true, - }, - /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip. - gossip: { - /// Whether gossip scouting is enabled or not - enabled: true, - /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network. - /// When false, gossip scouting information are only propagated to the next hop. - /// Activating multihop gossip implies more scouting traffic and a lower scalability. - /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have - /// direct connectivity with each other. - multihop: false, - /// Which type of Zenoh instances to send gossip messages to. - /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }). - /// Each value is a list of "peer" and/or "router". - /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip - /// messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time. - target: { router: ["router", "peer"], peer: ["router"]}, - /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip. - /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }). - /// Each value is a list of: "peer" and/or "router". - autoconnect: { router: [], peer: ["router", "peer"] }, - /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly. - /// Possible options are: - /// - "always": always attempt to autoconnect, may result in redundant connections. - /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's. - /// If both nodes use this strategy, only one will attempt the connection. - /// This strategy may not be suited if one of the nodes is not reachable by the other one, for example - /// because of a private IP. - /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to, - /// or different values for router and/or peer depending on the type of node detected - /// (e.g. autoconnect_strategy : { to_router: "always", to_peer: "greater-zid" }), - /// or different values for router or peer mode - /// (e.g. autoconnect_strategy : { peer: { to_router: "always", to_peer: "greater-zid" } }). - autoconnect_strategy: { router: { to_router: "always", to_peer: "always" } }, - }, - }, - - /// Configuration of data messages timestamps management. - timestamping: { - /// Whether data messages should be timestamped if not already. - /// Accepts a single boolean value or different values for router, peer and client. - /// - /// ROS setting: PublicationCache which is required for transient_local durability - /// only works when time-stamping is enabled. - enabled: { router: true, peer: true, client: true }, - /// Whether data messages with timestamps in the future should be dropped or not. - /// If set to false (default), messages with timestamps in the future are retimestamped. - /// Timestamps are ignored if timestamping is disabled. - drop_future_timestamp: false, - }, - - /// The default timeout to apply to queries in milliseconds. - /// ROS setting: The default value of 600000 ms (10 minutes) is already quite high, but it can be increased if needed. - /// For instance to avoid timeout with Service Server that that is unresponsive or lagging, - /// which could occur at launch time with a large number of Nodes starting all together. - /// It’s recommended to configure a value that exceeds the longest timeout specified in any - /// `spin_until_complete(service_call_future_result, timeout)` call. - /// Note that the action-related service "get_result" is hard-coded with an infinite timeout, - /// as in some use case an action could spend several hours (e.g. mission plans). - queries_default_timeout: 600000, - - /// The routing strategy to use and it's configuration. - routing: { - /// The routing strategy to use in routers and it's configuration. - router: { - /// When set to true a router will forward data between two peers - /// directly connected to it if it detects that those peers are not - /// connected to each other. - /// The failover brokering only works if gossip discovery is enabled - /// and peers are configured with gossip target "router". - /// ROS setting: disabled by default because it serves no purpose when each peer connects directly to all others, - /// and it introduces additional management overhead and extra messages during system startup. - peers_failover_brokering: false, - /// Linkstate mode configuration. - linkstate: { - /// Weights of the outgoing transports in linkstate mode. - /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied. - /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied. - /// If both endpoint nodes of a transport specify its weight, the greater weight is applied. - // transport_weights: [ - // { dst_zid: "1", weight: "10" }, - // { dst_zid: "2", weight: "200" }, - // ] - }, - }, - /// The routing strategy to use in peers and it's configuration. - peer: { - /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate"). - /// This option needs to be set to the same value in all peers and routers of the subsystem. - mode: "peer_to_peer", - /// Linkstate mode configuration (only taken into account if mode == "linkstate"). - linkstate: { - /// Weights of the outgoing transports in linkstate mode. - /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied. - /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied. - /// If both endpoint nodes of a transport specify its weight, the greater weight is applied. - // transport_weights: [ - // { dst_zid: "1", weight: "10" }, - // { dst_zid: "2", weight: "200" }, - // ] - }, - }, - /// The interests-based routing configuration. - /// This configuration applies regardless of the mode (router, peer or client). - interests: { - /// The timeout to wait for incoming interests declarations in milliseconds. - /// The expiration of this timeout implies that the discovery protocol might be incomplete, - /// leading to potential loss of messages, queries or liveliness tokens. - timeout: 10000, - }, - }, - - // /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values) - // qos: { - // /// Overwrite QoS options for PUT and DELETE messages - // publication: [ - // { - // /// PUT and DELETE messages on key expressions that are included by these key expressions - // /// will have their QoS options overwritten by the given config. - // key_exprs: ["demo/**", "example/key"], - // /// Configurations that will be applied on the publisher. - // /// Options that are supplied here will overwrite the configuration given in Zenoh API - // config: { - // congestion_control: "block", - // priority: "data_high", - // express: true, - // reliability: "best_effort", - // allowed_destination: "remote", - // }, - // }, - // ], - // /// Overwrite QoS options for messages sent and received from/to the network - // /// This allows more fine grained rules (per network card, etc...) but is - // /// less performant than the publication option above. - // network: [ - // { - // /// Optional Id, has to be unique. - // id: "lo0_en0_qos_overwrite", - // /// Optional list of ZIDs on which qos will be overwritten when communicating with. - // // zids: ["38a4829bce9166ee"], - // /// Optional list of interfaces, if not specified, will be applied to all interfaces. - // interfaces: [ - // "lo0", - // "en0", - // ], - // /// Optional list of link protocols. Transports with at least one of these links will have their qos overwritten. - // /// If absent, the overwrite will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// List of message types to apply to. - // messages: [ - // "put", // put publications - // "delete", // delete publications - // "query", // get queries - // "reply", // replies to queries - // ], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the rules will be applied to both flows. - // flows: ["egress", "ingress"], - // /// QoS filter to apply to the messages matching this item. - // qos: { - // congestion_control: "drop", - // priority: "data", - // express: true, - // reliability: "reliable", - // }, - // /// payload_size range for the messages matching this item. - // payload_size: "1000000..", - // key_exprs: ["test/demo"], - // overwrite: { - // /// Optional new priority value, if not specified priority of the messages will stay unchanged. - // priority: "real_time", - // /// Optional new congestion control value, if not specified congestion control of the messages will stay unchanged. - // congestion_control: "block", - // /// Optional new express value, if not specified express flag of the messages will stay unchanged. - // express: true, - // }, - // }, - // ], - // }, - - // /// The declarations aggregation strategy. - // aggregation: { - // /// A list of key-expressions for which all included subscribers will be aggregated into. - // subscribers: [ - // // key_expression - // ], - // /// A list of key-expressions for which all included publishers will be aggregated into. - // publishers: [ - // // key_expression - // ], - // }, - - // /// Namespace prefix. - // /// If specified, all outgoing key expressions will be automatically prefixed with specified string, - // /// and all incoming key expressions will be stripped of specified prefix. - // /// The namespace prefix should satisfy all key expression constraints - // /// and additionally it can not contain wild characters ('*'). - // /// Namespace is applied to the session. - // /// E. g. if session has a namespace of "1" then session.put("my/keyexpr", my_message), - // /// will put a message into 1/my/keyexpr. Same applies to all other operations within this session. - // namespace: "my/namespace", - - // /// The downsampling declaration. - // downsampling: [ - // { - // /// Optional Id, has to be unique - // id: "wlan0egress", - // /// Optional list of network interfaces messages will be processed on, the rest will be passed as is. - // /// If absent, the rules will be applied to all interfaces. An empty list is invalid. - // interfaces: [ "wlan0" ], - // /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered. - // /// If absent, the rules will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the rules will be applied to both flows. - // flows: ["ingress", "egress"], - // /// List of message type on which downsampling will be applied. Must not be empty. - // messages: [ - // /// Delete - // "delete", - // /// Put - // "put", - // /// Get - // "query", - // /// Queryable Reply to a Query - // "reply", - // ], - // /// A list of downsampling rules: key_expression and the maximum frequency in Hertz - // rules: [ - // { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 }, - // ], - // }, - // ], - - // /// Configure access control (ACL) rules - // access_control: { - // /// [true/false] acl will be activated only if this is set to true - // "enabled": false, - // /// [deny/allow] default permission is deny (even if this is left empty or not specified) - // "default_permission": "deny", - // /// Rule set for permissions allowing or denying access to key-expressions - // "rules": - // [ - // { - // /// Id has to be unique within the rule set - // "id": "rule1", - // "messages": [ - // "put", "delete", "declare_subscriber", - // "query", "reply", "declare_queryable", - // "liveliness_token", "liveliness_query", "declare_liveliness_subscriber", - // ], - // "flows":["egress","ingress"], - // "permission": "allow", - // "key_exprs": [ - // "test/demo" - // ], - // }, - // { - // "id": "rule2", - // "messages": [ - // "put", "delete", "declare_subscriber", - // "query", "reply", "declare_queryable", - // ], - // "flows":["ingress"], - // "permission": "allow", - // "key_exprs": [ - // "**" - // ], - // }, - // ], - // /// List of combinations of subjects. - // /// - // /// If a subject property (i.e. username, certificate common name or interface) is empty - // /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list. - // "subjects": - // [ - // { - // /// Id has to be unique within the subjects list - // "id": "subject1", - // /// Subjects can be interfaces - // "interfaces": [ - // "lo0", - // "en0", - // ], - // /// Subjects can be cert_common_names when using TLS or Quic - // "cert_common_names": [ - // "example.zenoh.io" - // ], - // /// Subjects can be usernames when using user/password authentication - // "usernames": [ - // "zenoh-example" - // ], - // /// This instance translates internally to this filter: - // /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") || - // /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example") - // }, - // { - // "id": "subject2", - // "interfaces": [ - // "lo0", - // "en0", - // ], - // "cert_common_names": [ - // "example2.zenoh.io" - // ], - // /// This instance translates internally to this filter: - // /// (interface="lo0" && cert_common_name="example2.zenoh.io") || - // /// (interface="en0" && cert_common_name="example2.zenoh.io") - // }, - // { - // "id": "subject3", - // /// An empty subject combination is a wildcard - // }, - // { - // "id": "subject4", - // /// link protocols can also be used to identify transports to filter messages on. - // /// If absent, the rules will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// ZIDs can also be used to identify transports to filter messages on. - // /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is - // /// dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed. - // /// If managed manually in ACL config, can be useful for prototyping but should not be used in production! - // zids: ["38a4829bce9166ee"], - // }, - // ], - // /// The policies list associates rules to subjects - // "policies": - // [ - // /// Each policy associates one or multiple rules to one or multiple subject combinations - // { - // /// Id is optional. If provided, it has to be unique within the policies list - // "id": "policy1", - // /// Rules and Subjects are identified with their unique IDs declared above - // "rules": ["rule1"], - // "subjects": ["subject1", "subject2"], - // }, - // { - // "rules": ["rule2"], - // "subjects": ["subject3", "subject4"], - // }, - // ] - // }, - - // low_pass_filter: [ - // { - // /// Optional Id, has to be unique - // "id": "filter1", - // /// Optional list of network interfaces messages will be processed on, the rest will not be filtered. - // /// If absent, the filter will be applied to all interfaces. - // interfaces: [ "wlan0" ], - // /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered. - // /// If absent, the rule will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the filter will be applied to both flows. - // flows: ["ingress", "egress"], - // /// List of message type on which the filter will be applied. Must not be empty. - // messages: [ - // "put", - // "delete", - // "query", - // "reply" - // ], - // /// List of key_expressions which matching messages will be filtered - // key_exprs: [ - // "demo/**", - // ], - // /// Inclusive max size of serialized payload + serialized attachment - // size_limit: 8192, - // }, - // ], - - /// Enable stats per key expression. - // stats: { - // filters: [ - // { - // key: "some/key/expression/**", - // } - // ], - // }, - - /// Configure internal transport parameters - transport: { - unicast: { - /// Timeout in milliseconds when opening a link - /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together - open_timeout: 60000, - /// Timeout in milliseconds when accepting a link - /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together - accept_timeout: 60000, - /// Maximum number of links in pending state while performing the handshake for accepting it - /// ROS setting: increase the value to support a large number of Nodes starting all together - accept_pending: 10000, - /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions - /// ROS setting: increase the value to support a large number of Nodes starting all together - max_sessions: 10000, - /// Maximum number of incoming links that are admitted per transport - max_links: 1, - /// Enables the LowLatency transport - /// This option does not make LowLatency transport mandatory, the actual implementation of transport - /// used will depend on Establish procedure and other party's settings - /// - /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. - /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to - /// enable 'lowlatency' you need to explicitly disable 'qos'. - /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be - /// smaller than the tx batch_size. - lowlatency: false, - /// Enables QoS on unicast communications. - qos: { - enabled: true, - }, - /// Enables compression on unicast communications. - /// Compression capabilities are negotiated during session establishment. - /// If both Zenoh nodes support compression, then compression is activated. - compression: { - enabled: false, - }, - }, - /// WARNING: multicast communication does not perform any negotiation upon group joining. - /// Because of that, it is important that all transport parameters are the same to make - /// sure all your nodes in the system can communicate. One common parameter to configure - /// is "transport/link/tx/batch_size" since its default value depends on the actual platform - /// when operating on multicast. - /// E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192. - multicast: { - /// JOIN message transmission interval in milliseconds. - join_interval: 2500, - /// Maximum number of multicast sessions. - max_sessions: 1000, - /// Enables QoS on multicast communication. - /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. - qos: { - enabled: false, - }, - /// Enables compression on multicast communication. - /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. - compression: { - enabled: false, - }, - }, - link: { - /// An optional whitelist of protocols to be used for accepting and opening sessions. If not - /// configured, all the supported protocols are automatically whitelisted. The supported - /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For - /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"], - /// - /// Configure the zenoh TX parameters of a link - tx: { - /// The resolution in bits to be used for the message sequence numbers. - /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used. - /// Accepted values: 8bit, 16bit, 32bit, 64bit. - sequence_number_resolution: "32bit", - /// Link lease duration in milliseconds to announce to other zenoh nodes - /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together - lease: 60000, - /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive - /// messages will be sent at the configured time interval. - /// NOTE: In order to consider eventual packet loss and transmission latency and jitter, - /// set the actual keep_alive interval to one fourth of the lease time: i.e. send - /// 4 keep_alive messages in a lease period. Changing the lease time will have the - /// keep_alive messages sent more or less often. - /// This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity - /// check which considers a link as failed when no messages are received in 3.5 times the - /// target interval. - /// ROS setting: decrease the value since Nodes are communicating over the loopback - /// where keep-alive messages have less chances to be lost. - keep_alive: 2, - /// Batch size in bytes is expressed as a 16bit unsigned integer. - /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535). - /// The default batch size value is the maximum batch size: 65535. - batch_size: 65535, - /// Each zenoh link has a transmission queue that can be configured - queue: { - /// The size of each priority queue indicates the number of batches a given queue can contain. - /// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error. - /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE. - /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE, - /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU. - /// If qos is false, then only the DATA priority will be allocated. - size: { - control: 2, - real_time: 2, - interactive_high: 2, - interactive_low: 2, - data_high: 2, - data: 2, - data_low: 2, - background: 2, - }, - /// Congestion occurs when the queue is empty (no available batch). - congestion_control: { - /// Behavior pushing CongestionControl::Drop messages to the queue. - drop: { - /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available. - wait_before_drop: 1000, - /// The maximum deadline limit for multi-fragment messages. - max_wait_before_drop_fragments: 50000, - }, - /// Behavior pushing CongestionControl::Block messages to the queue. - block: { - /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message - /// if still no batch is available. - /// ROS setting: unlike DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5, no change here: - /// as the router is routing messages to outside the robot, possibly over WiFi, - /// keeping a lower value ensure the router is not blocked for too long in case of congestioned WiFi. - wait_before_close: 5000000, - }, - }, - /// Perform batching of messages if they are smaller of the batch_size - batching: { - /// Perform adaptive batching of messages if they are smaller of the batch_size. - /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be - /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput - /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure. - enabled: true, - /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens. - time_limit: 1, - }, - allocation: { - /// Mode for memory allocation of batches in the priority queues. - /// - "init": batches are allocated at queue initialization time. - /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter. - mode: "lazy", - }, - }, - }, - /// Configure the zenoh RX parameters of a link - rx: { - /// Receiving buffer size in bytes for each link - /// The default the rx_buffer_size value is the same as the default batch size: 65535. - /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate - /// more in-flight data. This is particularly relevant when dealing with large messages. - /// E.g. for 16MiB rx_buffer_size set the value to: 16777216. - buffer_size: 65535, - /// Maximum size of the defragmentation buffer at receiver end. - /// Fragmented messages that are larger than the configured size will be dropped. - /// The default value is 1GiB. This would work in most scenarios. - /// NOTE: reduce the value if you are operating on a memory constrained device. - max_message_size: 1073741824, - }, - /// Configure TLS specific parameters - tls: { - /// Path to the certificate of the certificate authority used to validate either the server - /// or the client's keys and certificates, depending on the node's mode. If not specified - /// on router mode then the default WebPKI certificates are used instead. - root_ca_certificate: null, - /// Path to the TLS listening side private key - listen_private_key: null, - /// Path to the TLS listening side public certificate - listen_certificate: null, - /// Enables mTLS (mutual authentication), client authentication - enable_mtls: false, - /// Path to the TLS connecting side private key - connect_private_key: null, - /// Path to the TLS connecting side certificate - connect_certificate: null, - /// Whether or not to verify the matching between hostname/dns and certificate when connecting, - /// if set to false zenoh will disregard the common names of the certificates when verifying servers. - /// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your - /// ca to verify that the server at baz.com is actually baz.com, let this be true (default). - verify_name_on_connect: true, - /// Whether or not to close links when remote certificates expires. - /// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached - /// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration - close_link_on_expiration: false, - /// Optional configuration for TCP system buffers sizes for TLS links - /// - /// Configure TCP read buffer size (bytes) - // so_rcvbuf: 123456, - /// Configure TCP write buffer size (bytes) - // so_sndbuf: 123456, - }, - // // Configure optional TCP link specific parameters - // tcp: { - // /// Optional configuration for TCP system buffers sizes for TCP links - // /// - // /// Configure TCP read buffer size (bytes) - // // so_rcvbuf: 123456, - // /// Configure TCP write buffer size (bytes) - // // so_sndbuf: 123456, - // }, - }, - /// Shared memory configuration. - /// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise - /// settings in this section have no effect. - shared_memory: { - /// Whether shared memory is enabled or not. - /// If set to `true`, the SHM buffer optimization support will be announced to other parties. (default `true`). - /// This option doesn't make SHM buffer optimization mandatory, the real support depends on other party setting. - /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate - /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the - /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected. - /// - /// ROS setting: disabled by default until fully tested - enabled: false, - /// SHM resources initialization mode (default "lazy"). - /// - "lazy": SHM subsystem internals will be initialized lazily upon the first SHM buffer - /// allocation or reception. This setting provides better startup time and optimizes resource usage, - /// but produces extra latency at the first SHM buffer interaction. - /// - "init": SHM subsystem internals will be initialized upon Session opening. This setting sacrifices - /// startup time, but guarantees no latency impact when first SHM buffer is processed. - mode: "lazy", - /// ROS setting: the section below controls SHM parameters used for large message passing on ROS - transport_optimization: { - /// Enables transport optimization for large messages (default `true`). - /// Implicitly puts large messages into shared memory for transports with SHM-compatible connection. - enabled: true, - /// SHM memory size in bytes used for transport optimization (default `48 * 1024 * 1024`). - pool_size: 50331648, - /// Allow optimization for messages equal or larger than this threshold in bytes (default `3072`). - message_size_threshold: 512, - }, - }, - auth: { - /// The configuration of authentication. - /// A password implies a username is required. - usrpwd: { - user: null, - password: null, - /// The path to a file containing the user password dictionary - dictionary_file: null, - }, - pubkey: { - public_key_pem: null, - private_key_pem: null, - public_key_file: null, - private_key_file: null, - key_size: null, - known_keys_file: null, - }, - }, - }, - - /// Configure the Admin Space - /// Unstable: this configuration part works as advertised, but may change in a future release - adminspace: { - /// Enables the admin space - enabled: true, - /// read and/or write permissions on the admin space - permissions: { - read: true, - write: false, - }, - }, - -} diff --git a/rig/config/zenoh-session.json5 b/rig/config/zenoh-session.json5 deleted file mode 100644 index 6cb1d33d..00000000 --- a/rig/config/zenoh-session.json5 +++ /dev/null @@ -1,820 +0,0 @@ -/// This file attempts to list and document available configuration elements. -/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure. -/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice. -{ - /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted) - /// that zenoh runtime will use. - /// If not set, a random unsigned 128bit integer will be used. - /// WARNING: this id must be unique in your zenoh network. - // id: "1234567890abcdef", - - /// The node's mode (router, peer or client) - mode: "peer", - - /// Which endpoints to connect to. E.g. tcp/localhost:7447. - /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup. - /// - /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to: - /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0 - /// - /// It is also possible to specify a priority range and/or a reliability setting to be used on the link. - /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link. - /// - /// For TCP and TLS links, it is possible to specify the TCP buffer sizes: - /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000 - /// For TCP, UDP, Quic and TLS links, it is possible to specify a `bind` address for the local socket: - /// E.g. tcp/192.168.0.1:7447#bind=192.168.0.1:0 - /// Note!: Currently it is unsupported to specify both `bind` and `iface`. - /// - /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header: - /// E.g. tcp/192.168.0.1:7447#dscp=0x08 - connect: { - /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout) - /// Accepts a single value (e.g. timeout_ms: 0) - /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }). - timeout_ms: { router: -1, peer: -1, client: 0 }, - - /// The list of endpoints to connect to. - /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"]) - /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }). - /// - /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html - /// - /// ROS setting: By default connect to the Zenoh router on localhost on port 7447. - endpoints: [ - "tcp/127.0.0.1:7447" - ], - - /// Global connect configuration, - /// Accepts a single value or different values for router, peer and client. - /// The configuration can also be specified for the separate endpoint - /// it will override the global one - /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000" - - /// exit from application, if timeout exceed - exit_on_failure: { router: false, peer: false, client: true }, - /// connect establishing retry configuration - retry: { - /// initial wait timeout until next connect try - period_init_ms: 1000, - /// maximum wait timeout until next connect try - period_max_ms: 4000, - /// increase factor for the next timeout until nexti connect try - period_increase_factor: 2, - }, - }, - - /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447. - /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers, - /// peers, or client can use to establish a zenoh session. - /// - /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to: - /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0 - /// - /// It is also possible to specify a priority range and/or a reliability setting to be used on the link. - /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link. - /// - /// For TCP and TLS links, it is possible to specify the TCP buffer sizes: - /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000 - /// - /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header: - /// E.g. tcp/192.168.0.1:7447#dscp=0x08 - listen: { - /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout) - /// Accepts a single value (e.g. timeout_ms: 0) - /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }). - timeout_ms: 0, - - /// The list of endpoints to listen on. - /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"]) - /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }). - /// - /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html - /// - /// ROS setting: By default accept incoming connections only from localhost (i.e. from colocalized Nodes). - /// All communications with other hosts are routed by the Zenoh router. - endpoints: [ - "tcp/localhost:0" - ], - - /// Global listen configuration, - /// Accepts a single value or different values for router, peer and client. - /// The configuration can also be specified for the separate endpoint - /// it will override the global one - /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000" - - /// exit from application, if timeout exceed - exit_on_failure: true, - /// listen retry configuration - retry: { - /// initial wait timeout until next try - period_init_ms: 1000, - /// maximum wait timeout until next try - period_max_ms: 4000, - /// increase factor for the next timeout until next try - period_increase_factor: 2, - }, - }, - - /// Configure the session open behavior. - open: { - /// Configure the conditions to be met before session open returns. - return_conditions: { - /// Session open waits to connect to scouted peers and routers before returning. - /// When set to false, first publications and queries after session open from peers may be lost. - connect_scouted: true, - /// Session open waits to receive initial declares from connected peers before returning. - /// Setting to false may cause extra traffic at startup from peers. - declares: true, - }, - }, - - /// Configure the scouting mechanisms and their behaviours - scouting: { - /// In client mode, the period in milliseconds dedicated to scouting for a router before failing. - timeout: 3000, - /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations. - delay: 500, - /// The multicast scouting configuration. - multicast: { - /// Whether multicast scouting is enabled or not - /// - /// ROS setting: disable multicast discovery by default - enabled: false, - /// The socket which should be used for multicast scouting - address: "224.0.0.224:7446", - /// The network interface which should be used for multicast scouting - interface: "auto", // If not set or set to "auto" the interface if picked automatically - /// The time-to-live on multicast scouting packets - ttl: 1, - /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast. - /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router, peer or client mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }). - /// Each value is a list of: "peer", "router" and/or "client". - autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] }, - /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly. - /// Possible options are: - /// - "always": always attempt to autoconnect, may result in redundant connections. - /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's. - /// If both nodes use this strategy, only one will attempt the connection. - /// This strategy may not be suited if one of the nodes is not reachable by the other one, for example - /// because of a private IP. - /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to, - /// or different values for router and/or peer depending on the type of node detected - /// (e.g. autoconnect_strategy : { to_router: "always", to_peer: "greater-zid" }), - /// or different values for router or peer mode - /// (e.g. autoconnect_strategy : { peer: { to_router: "always", to_peer: "greater-zid" } }). - /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip - /// messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time. - autoconnect_strategy: { peer: { to_router: "always", to_peer: "greater-zid" } }, - /// Whether or not to listen for scout messages on UDP multicast and reply to them. - listen: true, - }, - /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip. - gossip: { - /// Whether gossip scouting is enabled or not - enabled: true, - /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network. - /// When false, gossip scouting information are only propagated to the next hop. - /// Activating multihop gossip implies more scouting traffic and a lower scalability. - /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have - /// direct connectivity with each other. - multihop: false, - /// Which type of Zenoh instances to send gossip messages to. - /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }). - /// Each value is a list of "peer" and/or "router". - /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip - /// messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time. - target: { router: ["router", "peer"], peer: ["router"]}, - /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip. - /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is, - /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }). - /// Each value is a list of: "peer" and/or "router". - autoconnect: { router: [], peer: ["router", "peer"] }, - /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly. - /// Possible options are: - /// - "always": always attempt to autoconnect, may result in redundant connection which will then be closed. - /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's. - /// If both nodes use this strategy, only one will attempt the connection. - /// This strategy may not be suited if one of the nodes is not reachable by the other one, for example - /// because of a private IP. - /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to, - /// or different values for router and/or peer depending on the type of node detected - /// (e.g. autoconnect_strategy : { to_router: "always", to_peer: "greater-zid" }), - /// or different values for router or peer mode - /// (e.g. autoconnect_strategy : { peer: { to_router: "always", to_peer: "greater-zid" } }). - /// ROS setting: as by default all peers will interconnect to each other over the loopback interface, - /// they are all reachable to each other. Hence using "greater-zid" for peers connecting to - /// other peers is sufficient and avoids unecessary double connections between peers at startup. - autoconnect_strategy: { peer: { to_router: "always", to_peer: "greater-zid" } }, - }, - }, - - /// Configuration of data messages timestamps management. - timestamping: { - /// Whether data messages should be timestamped if not already. - /// Accepts a single boolean value or different values for router, peer and client. - /// - /// ROS setting: PublicationCache which is required for transient_local durability - /// only works when time-stamping is enabled. - enabled: { router: true, peer: true, client: true }, - /// Whether data messages with timestamps in the future should be dropped or not. - /// If set to false (default), messages with timestamps in the future are retimestamped. - /// Timestamps are ignored if timestamping is disabled. - drop_future_timestamp: false, - }, - - /// The default timeout to apply to queries in milliseconds. - /// ROS setting: The default value of 600000 ms (10 minutes) is already quite high, but it can be increased if needed. - /// For instance to avoid timeout with Service Server that that is unresponsive or lagging, - /// which could occur at launch time with a large number of Nodes starting all together. - /// It’s recommended to configure a value that exceeds the longest timeout specified in any - /// `spin_until_complete(service_call_future_result, timeout)` call. - /// Note that the action-related service "get_result" is hard-coded with an infinite timeout, - /// as in some use case an action could spend several hours (e.g. mission plans). - queries_default_timeout: 600000, - - /// The routing strategy to use and it's configuration. - routing: { - /// The routing strategy to use in routers and it's configuration. - router: { - /// When set to true a router will forward data between two peers - /// directly connected to it if it detects that those peers are not - /// connected to each other. - /// The failover brokering only works if gossip discovery is enabled - /// and peers are configured with gossip target "router". - peers_failover_brokering: true, - /// Linkstate mode configuration. - linkstate: { - /// Weights of the outgoing transports in linkstate mode. - /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied. - /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied. - /// If both endpoint nodes of a transport specify its weight, the greater weight is applied. - // transport_weights: [ - // { dst_zid: "1", weight: "10" }, - // { dst_zid: "2", weight: "200" }, - // ] - }, - }, - /// The routing strategy to use in peers and it's configuration. - peer: { - /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate"). - /// This option needs to be set to the same value in all peers and routers of the subsystem. - mode: "peer_to_peer", - /// Linkstate mode configuration (only taken into account if mode == "linkstate"). - linkstate: { - /// Weights of the outgoing transports in linkstate mode. - /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied. - /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied. - /// If both endpoint nodes of a transport specify its weight, the greater weight is applied. - // transport_weights: [ - // { dst_zid: "1", weight: "10" }, - // { dst_zid: "2", weight: "200" }, - // ] - }, - }, - /// The interests-based routing configuration. - /// This configuration applies regardless of the mode (router, peer or client). - interests: { - /// The timeout to wait for incoming interests declarations in milliseconds. - /// The expiration of this timeout implies that the discovery protocol might be incomplete, - /// leading to potential loss of messages, queries or liveliness tokens. - timeout: 10000, - }, - }, - - // /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values) - // qos: { - // /// Overwrite QoS options for PUT and DELETE messages - // publication: [ - // { - // /// PUT and DELETE messages on key expressions that are included by these key expressions - // /// will have their QoS options overwritten by the given config. - // key_exprs: ["demo/**", "example/key"], - // /// Configurations that will be applied on the publisher. - // /// Options that are supplied here will overwrite the configuration given in Zenoh API - // config: { - // congestion_control: "block", - // priority: "data_high", - // express: true, - // reliability: "best_effort", - // allowed_destination: "remote", - // }, - // }, - // ], - // /// Overwrite QoS options for messages sent and received from/to the network - // /// This allows more fine grained rules (per network card, etc...) but is - // /// less performant than the publication option above. - // network: [ - // { - // /// Optional Id, has to be unique. - // id: "lo0_en0_qos_overwrite", - // /// Optional list of ZIDs on which qos will be overwritten when communicating with. - // // zids: ["38a4829bce9166ee"], - // /// Optional list of interfaces, if not specified, will be applied to all interfaces. - // interfaces: [ - // "lo0", - // "en0", - // ], - // /// Optional list of link protocols. Transports with at least one of these links will have their qos overwritten. - // /// If absent, the overwrite will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// List of message types to apply to. - // messages: [ - // "put", // put publications - // "delete", // delete publications - // "query", // get queries - // "reply", // replies to queries - // ], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the rules will be applied to both flows. - // flows: ["egress", "ingress"], - // /// QoS filter to apply to the messages matching this item. - // qos: { - // congestion_control: "drop", - // priority: "data", - // express: true, - // reliability: "reliable", - // }, - // /// payload_size range for the messages matching this item. - // payload_size: "1000000..", - // key_exprs: ["test/demo"], - // overwrite: { - // /// Optional new priority value, if not specified priority of the messages will stay unchanged. - // priority: "real_time", - // /// Optional new congestion control value, if not specified congestion control of the messages will stay unchanged. - // congestion_control: "block", - // /// Optional new express value, if not specified express flag of the messages will stay unchanged. - // express: true, - // }, - // }, - // ], - // }, - - // /// The declarations aggregation strategy. - // aggregation: { - // /// A list of key-expressions for which all included subscribers will be aggregated into. - // subscribers: [ - // // key_expression - // ], - // /// A list of key-expressions for which all included publishers will be aggregated into. - // publishers: [ - // // key_expression - // ], - // }, - - // /// Namespace prefix. - // /// If specified, all outgoing key expressions will be automatically prefixed with specified string, - // /// and all incoming key expressions will be stripped of specified prefix. - // /// The namespace prefix should satisfy all key expression constraints - // /// and additionally it can not contain wild characters ('*'). - // /// Namespace is applied to the session. - // /// E. g. if session has a namespace of "1" then session.put("my/keyexpr", my_message), - // /// will put a message into 1/my/keyexpr. Same applies to all other operations within this session. - // namespace: "my/namespace", - - // /// The downsampling declaration. - // downsampling: [ - // { - // /// Optional Id, has to be unique - // id: "wlan0egress", - // /// Optional list of network interfaces messages will be processed on, the rest will be passed as is. - // /// If absent, the rules will be applied to all interfaces. An empty list is invalid. - // interfaces: [ "wlan0" ], - // /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered. - // /// If absent, the rules will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the rules will be applied to both flows. - // flows: ["ingress", "egress"], - // /// List of message type on which downsampling will be applied. Must not be empty. - // messages: [ - // /// Delete - // "delete", - // /// Put - // "put", - // /// Get - // "query", - // /// Queryable Reply to a Query - // "reply", - // ], - // /// A list of downsampling rules: key_expression and the maximum frequency in Hertz - // rules: [ - // { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 }, - // ], - // }, - // ], - - // /// Configure access control (ACL) rules - // access_control: { - // /// [true/false] acl will be activated only if this is set to true - // "enabled": false, - // /// [deny/allow] default permission is deny (even if this is left empty or not specified) - // "default_permission": "deny", - // /// Rule set for permissions allowing or denying access to key-expressions - // "rules": - // [ - // { - // /// Id has to be unique within the rule set - // "id": "rule1", - // "messages": [ - // "put", "delete", "declare_subscriber", - // "query", "reply", "declare_queryable", - // "liveliness_token", "liveliness_query", "declare_liveliness_subscriber", - // ], - // "flows":["egress","ingress"], - // "permission": "allow", - // "key_exprs": [ - // "test/demo" - // ], - // }, - // { - // "id": "rule2", - // "messages": [ - // "put", "delete", "declare_subscriber", - // "query", "reply", "declare_queryable", - // ], - // "flows":["ingress"], - // "permission": "allow", - // "key_exprs": [ - // "**" - // ], - // }, - // ], - // /// List of combinations of subjects. - // /// - // /// If a subject property (i.e. username, certificate common name or interface) is empty - // /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list. - // "subjects": - // [ - // { - // /// Id has to be unique within the subjects list - // "id": "subject1", - // /// Subjects can be interfaces - // "interfaces": [ - // "lo0", - // "en0", - // ], - // /// Subjects can be cert_common_names when using TLS or Quic - // "cert_common_names": [ - // "example.zenoh.io" - // ], - // /// Subjects can be usernames when using user/password authentication - // "usernames": [ - // "zenoh-example" - // ], - // /// This instance translates internally to this filter: - // /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") || - // /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example") - // }, - // { - // "id": "subject2", - // "interfaces": [ - // "lo0", - // "en0", - // ], - // "cert_common_names": [ - // "example2.zenoh.io" - // ], - // /// This instance translates internally to this filter: - // /// (interface="lo0" && cert_common_name="example2.zenoh.io") || - // /// (interface="en0" && cert_common_name="example2.zenoh.io") - // }, - // { - // "id": "subject3", - // /// An empty subject combination is a wildcard - // }, - // { - // "id": "subject4", - // /// link protocols can also be used to identify transports to filter messages on. - // /// If absent, the rules will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// ZIDs can also be used to identify transports to filter messages on. - // /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is - // /// dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed. - // /// If managed manually in ACL config, can be useful for prototyping but should not be used in production! - // zids: ["38a4829bce9166ee"], - // }, - // ], - // /// The policies list associates rules to subjects - // "policies": - // [ - // /// Each policy associates one or multiple rules to one or multiple subject combinations - // { - // /// Id is optional. If provided, it has to be unique within the policies list - // "id": "policy1", - // /// Rules and Subjects are identified with their unique IDs declared above - // "rules": ["rule1"], - // "subjects": ["subject1", "subject2"], - // }, - // { - // "rules": ["rule2"], - // "subjects": ["subject3", "subject4"], - // }, - // ] - // }, - - // low_pass_filter: [ - // { - // /// Optional Id, has to be unique - // "id": "filter1", - // /// Optional list of network interfaces messages will be processed on, the rest will not be filtered. - // /// If absent, the filter will be applied to all interfaces. - // interfaces: [ "wlan0" ], - // /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered. - // /// If absent, the rule will be applied to all transports. An empty list is invalid. - // link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"], - // /// Optional list of data flows messages will be processed on ("egress" and/or "ingress"). - // /// If absent, the filter will be applied to both flows. - // flows: ["ingress", "egress"], - // /// List of message type on which the filter will be applied. Must not be empty. - // messages: [ - // "put", - // "delete", - // "query", - // "reply" - // ], - // /// List of key_expressions which matching messages will be filtered - // key_exprs: [ - // "demo/**", - // ], - // /// Inclusive max size of serialized payload + serialized attachment - // size_limit: 8192, - // }, - // ], - - /// Enable stats per key expression. - // stats: { - // filters: [ - // { - // key: "some/key/expression/**", - // } - // ], - // }, - - /// Configure internal transport parameters - transport: { - unicast: { - /// Timeout in milliseconds when opening a link - /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together - open_timeout: 60000, - /// Timeout in milliseconds when accepting a link - /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together - accept_timeout: 60000, - /// Maximum number of links in pending state while performing the handshake for accepting it - /// ROS setting: increase the value to support a large number of Nodes starting all together - accept_pending: 10000, - /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions - /// ROS setting: increase the value to support a large number of Nodes starting all together - max_sessions: 10000, - /// Maximum number of incoming links that are admitted per transport - max_links: 1, - /// Enables the LowLatency transport - /// This option does not make LowLatency transport mandatory, the actual implementation of transport - /// used will depend on Establish procedure and other party's settings - /// - /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. - /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to - /// enable 'lowlatency' you need to explicitly disable 'qos'. - /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be - /// smaller than the tx batch_size. - lowlatency: false, - /// Enables QoS on unicast communications. - qos: { - enabled: true, - }, - /// Enables compression on unicast communications. - /// Compression capabilities are negotiated during session establishment. - /// If both Zenoh nodes support compression, then compression is activated. - compression: { - enabled: false, - }, - }, - /// WARNING: multicast communication does not perform any negotiation upon group joining. - /// Because of that, it is important that all transport parameters are the same to make - /// sure all your nodes in the system can communicate. One common parameter to configure - /// is "transport/link/tx/batch_size" since its default value depends on the actual platform - /// when operating on multicast. - /// E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192. - multicast: { - /// JOIN message transmission interval in milliseconds. - join_interval: 2500, - /// Maximum number of multicast sessions. - max_sessions: 1000, - /// Enables QoS on multicast communication. - /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. - qos: { - enabled: false, - }, - /// Enables compression on multicast communication. - /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. - compression: { - enabled: false, - }, - }, - link: { - /// An optional whitelist of protocols to be used for accepting and opening sessions. If not - /// configured, all the supported protocols are automatically whitelisted. The supported - /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For - /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"], - /// - /// Configure the zenoh TX parameters of a link - tx: { - /// The resolution in bits to be used for the message sequence numbers. - /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used. - /// Accepted values: 8bit, 16bit, 32bit, 64bit. - sequence_number_resolution: "32bit", - /// Link lease duration in milliseconds to announce to other zenoh nodes - /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together - lease: 60000, - /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive - /// messages will be sent at the configured time interval. - /// NOTE: In order to consider eventual packet loss and transmission latency and jitter, - /// set the actual keep_alive interval to one fourth of the lease time: i.e. send - /// 4 keep_alive messages in a lease period. Changing the lease time will have the - /// keep_alive messages sent more or less often. - /// This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity - /// check which considers a link as failed when no messages are received in 3.5 times the - /// target interval. - /// ROS setting: decrease the value since Nodes are communicating over the loopback - /// where keep-alive messages have less chances to be lost. - keep_alive: 2, - /// Batch size in bytes is expressed as a 16bit unsigned integer. - /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535). - /// The default batch size value is the maximum batch size: 65535. - batch_size: 65535, - /// Each zenoh link has a transmission queue that can be configured - queue: { - /// The size of each priority queue indicates the number of batches a given queue can contain. - /// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error. - /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE. - /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE, - /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU. - /// If qos is false, then only the DATA priority will be allocated. - size: { - control: 2, - real_time: 2, - interactive_high: 2, - interactive_low: 2, - data_high: 2, - data: 2, - data_low: 2, - background: 2, - }, - /// Congestion occurs when the queue is empty (no available batch). - congestion_control: { - /// Behavior pushing CongestionControl::Drop messages to the queue. - drop: { - /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available. - wait_before_drop: 1000, - /// The maximum deadline limit for multi-fragment messages. - max_wait_before_drop_fragments: 50000, - }, - /// Behavior pushing CongestionControl::Block messages to the queue. - block: { - /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message - /// if still no batch is available. - /// ROS setting: increase the value to avoid unecessary link closure at launch time where congestion is likely - /// to occur even over the loopback since all the Nodes are starting at the same time. - wait_before_close: 60000000, - }, - }, - /// Perform batching of messages if they are smaller of the batch_size - batching: { - /// Perform adaptive batching of messages if they are smaller of the batch_size. - /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be - /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput - /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure. - enabled: true, - /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens. - time_limit: 1, - }, - allocation: { - /// Mode for memory allocation of batches in the priority queues. - /// - "init": batches are allocated at queue initialization time. - /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter. - mode: "lazy", - }, - }, - }, - /// Configure the zenoh RX parameters of a link - rx: { - /// Receiving buffer size in bytes for each link - /// The default the rx_buffer_size value is the same as the default batch size: 65535. - /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate - /// more in-flight data. This is particularly relevant when dealing with large messages. - /// E.g. for 16MiB rx_buffer_size set the value to: 16777216. - buffer_size: 65535, - /// Maximum size of the defragmentation buffer at receiver end. - /// Fragmented messages that are larger than the configured size will be dropped. - /// The default value is 1GiB. This would work in most scenarios. - /// NOTE: reduce the value if you are operating on a memory constrained device. - max_message_size: 1073741824, - }, - /// Configure TLS specific parameters - tls: { - /// Path to the certificate of the certificate authority used to validate either the server - /// or the client's keys and certificates, depending on the node's mode. If not specified - /// on router mode then the default WebPKI certificates are used instead. - root_ca_certificate: null, - /// Path to the TLS listening side private key - listen_private_key: null, - /// Path to the TLS listening side public certificate - listen_certificate: null, - /// Enables mTLS (mutual authentication), client authentication - enable_mtls: false, - /// Path to the TLS connecting side private key - connect_private_key: null, - /// Path to the TLS connecting side certificate - connect_certificate: null, - /// Whether or not to verify the matching between hostname/dns and certificate when connecting, - /// if set to false zenoh will disregard the common names of the certificates when verifying servers. - /// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your - /// ca to verify that the server at baz.com is actually baz.com, let this be true (default). - verify_name_on_connect: true, - /// Whether or not to close links when remote certificates expires. - /// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached - /// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration - close_link_on_expiration: false, - /// Optional configuration for TCP system buffers sizes for TLS links - /// - /// Configure TCP read buffer size (bytes) - // so_rcvbuf: 123456, - /// Configure TCP write buffer size (bytes) - // so_sndbuf: 123456, - }, - // // Configure optional TCP link specific parameters - // tcp: { - // /// Optional configuration for TCP system buffers sizes for TCP links - // /// - // /// Configure TCP read buffer size (bytes) - // // so_rcvbuf: 123456, - // /// Configure TCP write buffer size (bytes) - // // so_sndbuf: 123456, - // }, - }, - /// Shared memory configuration. - /// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise - /// settings in this section have no effect. - shared_memory: { - /// Whether shared memory is enabled or not. - /// If set to `true`, the SHM buffer optimization support will be announced to other parties. (default `true`). - /// This option doesn't make SHM buffer optimization mandatory, the real support depends on other party setting. - /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate - /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the - /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected. - /// - /// ROS setting: disabled by default until fully tested - enabled: false, - /// SHM resources initialization mode (default "lazy"). - /// - "lazy": SHM subsystem internals will be initialized lazily upon the first SHM buffer - /// allocation or reception. This setting provides better startup time and optimizes resource usage, - /// but produces extra latency at the first SHM buffer interaction. - /// - "init": SHM subsystem internals will be initialized upon Session opening. This setting sacrifices - /// startup time, but guarantees no latency impact when first SHM buffer is processed. - mode: "lazy", - /// ROS setting: the section below controls SHM parameters used for large message passing on ROS - transport_optimization: { - /// Enables transport optimization for large messages (default `true`). - /// Implicitly puts large messages into shared memory for transports with SHM-compatible connection. - enabled: true, - /// SHM memory size in bytes used for transport optimization (default `48 * 1024 * 1024`). - pool_size: 50331648, - /// Allow optimization for messages equal or larger than this threshold in bytes (default `3072`). - message_size_threshold: 512, - }, - }, - auth: { - /// The configuration of authentication. - /// A password implies a username is required. - usrpwd: { - user: null, - password: null, - /// The path to a file containing the user password dictionary - dictionary_file: null, - }, - pubkey: { - public_key_pem: null, - private_key_pem: null, - public_key_file: null, - private_key_file: null, - key_size: null, - known_keys_file: null, - }, - }, - }, - - /// Configure the Admin Space - /// Unstable: this configuration part works as advertised, but may change in a future release - adminspace: { - /// Enables the admin space - enabled: true, - /// read and/or write permissions on the admin space - permissions: { - read: true, - write: false, - }, - }, - -} diff --git a/rig/docs/shm-bench.md b/rig/docs/shm-bench.md deleted file mode 100644 index 3214d7bc..00000000 --- a/rig/docs/shm-bench.md +++ /dev/null @@ -1,67 +0,0 @@ -# Shared-memory and MCAP recording benchmarks (LAB-303) - -Three scripts in `rig/` measure rmw_zenoh with shared memory off vs on for image-sized -`sensor_msgs/Image` messages. None needs hardware. Each starts its own Zenoh router on -`127.0.0.1:7457` with `ROS_DOMAIN_ID` 42, so it never joins a rig graph on 7447 — but it loads the -CPU for a few minutes, so **never run it while an experiment is running on the PC** (Studio run, -FicTrac, BIAS or ScanImage acquisition). - -| script | subscriber | use it for | -|---|---|---| -| `shm_bench.py` | rclpy | the original (Mac, 2026-10-21); latency stamps from `time.monotonic_ns()` | -| `shm_bench_qpc.py` | rclpy | the same with `time.perf_counter_ns()` stamps — **use this one on Windows** | -| `mcap_bench.py` | rosbag2 recorder (C++, MCAP) | what a rig recorder sees: loss, latency, recorder CPU | - -**Why the `_qpc` copy on Windows:** with Python 3.12, `time.monotonic()` is `GetTickCount64()`, which -ticks every 15.625 ms, so every latency comes out as 0, 16, 31, … ms. `perf_counter_ns()` is -QueryPerformanceCounter counted from boot, the same in every process (on macOS and Linux it is -the system monotonic clock, so the copy is fine there too). Publish pacing still uses -`time.monotonic()`, so rows above ~64 Hz may send in small bursts. - -## Running it on another Windows PC - -1. Nothing rig-related running; port free: `netstat -ano | findstr ":7457"` prints nothing. -2. The default pixi environment is installed (`rig\.pixi\envs\default`); if not, see - `WINDOWS-TEST.md` step 1a (`pixi install --locked`). -3. PowerShell in `rig`, with `` = this PC's name (about 7 minutes in all): - -```powershell -pixi run python shm_bench_qpc.py run --out _shm_qpc.json -pixi run python shm_bench_qpc.py run --sizes 1048576,2097152,8388608 --rates 30,135,30 --out _shm_qpc_repeat.json -pixi run python shm_bench_qpc.py run --sizes 8388608,8388608 --rates 100,200 --duration 5 --out _shm_qpc_stress.json -pixi run python mcap_bench.py run --out _mcap.json -pixi run python mcap_bench.py run --cells 8388608@100,8388608@200 --duration 5 --out _mcap_stress.json -``` - -`mcap_bench.py` writes each bag to `%TEMP%\mcap_bench` (about 2.4 GB per 8 s cell, up to 8 GB per -stress cell) and deletes it after counting; `--bag-dir` tests another disk, `--keep-bags` keeps the -bags, `--preset fastwrite` uses rosbag2's no-CRC, no-index MCAP profile. - -4. Afterwards `tasklist | findstr rmw_zenohd` must print nothing. Leave the JSON files untracked and - send them back with the printed tables. - -## What to check - -- **Shared memory engaged:** the last column ("shm map") is each process's mapped shared memory after - its run. With shared memory on it is about 49 MB higher than off (ww18: 8.7M → 58.0M; Mac: - 48K → 49.3M). If the on and off rows show the same value, shared memory did not engage: report it. -- **Loss:** `recv/sent` (`bagged/sent` for the recorder) and the `rec log:` lines, which say whether - rosbag2 lost messages on the transport layer or in its cache. -- **Latency:** p50 / p99 / max. For `mcap_bench.py` this is rmw publish → recorder receive (MCAP - `publish_time` → `log_time`); the Python-side conversion is in the `pub()` column. - -## Reference: ww18 (Core Ultra 9 285K, Windows 11 25H2, 2026-10-21/22) - -Median latency, shared memory off → on (two runs each): - -| message | rclpy subscriber | rosbag2 recorder | -|---|---|---| -| 1 MB @ 30 Hz | 3.6 → 1.6–1.9 ms | — | -| 2 MB @ 135 Hz | 5.1–5.8 → 3.0–3.6 ms | 1.3 → 0.11–0.12 ms | -| 8 MB @ 30 Hz | 20–23 → 11–12 ms | 5.2–5.6 → 0.18–0.19 ms | - -With shared memory off, p99 was 25–67 ms and both subscribers lost messages (RELIABLE, depth 10) -at 2 MB @ 135 Hz and 8 MB @ 30 Hz; with it on, p99 was 3–14 ms (rclpy) or at most 0.4 ms -(recorder) and nothing was lost below 8 MB @ 200 Hz. The recorder costs about 1.1 ms of CPU per MB (31 % of a core for -2 MB @ 135 Hz). The rclpy subscriber, not the transport, sets the Python numbers: about 8–10 ms of -CPU per 8 MB message, 3–4 times the Mac's. diff --git a/rig/docs/typed-distribution-decision.md b/rig/docs/typed-distribution-decision.md deleted file mode 100644 index 510a32d4..00000000 --- a/rig/docs/typed-distribution-decision.md +++ /dev/null @@ -1,110 +0,0 @@ -# Typed interfaces on Windows rigs — distribution decision (LAB-303, 2026-10-16) - -**Decision: build `rig_interfaces` in CI and ship it as a conda channel; rigs never compile it.** -The default environment stays String-only and unchanged. The per-PC MSVC build remains available -for whoever edits a `.msg` (it is the same `pixi install -e typed` as today). - -Measurements: `typed-windows.md` (ww18, 2026-10-15/16). This page is the decision and the recipe. - -## The two routes, side by side - -| | per-PC MSVC build (`typed` today) | CI-built channel (recommended) | -|---|---|---| -| what a rig PC installs | compiler + build backend + the ROS toolchain, then builds | one 100 KiB `.conda` like every RoboStack package | -| prerequisites on the PC | MSVC **v143** (VS 2022 Build Tools, or the v143 group added to VS 2026 — admin, ~5 min), `pixi config set --local detached-environments C:\px` (MAX_PATH), network to prefix.dev for the backend | none beyond the default env; network to the channel host | -| `pixi install -e typed`, ww18, warm cache | 35–36 s (T2/T3) | **5–9 s** (T5/T6), no build backend started | -| harness | 48 / 48 | 48 / 48 (T5), 49 / 49 (T6) | -| upstream exposure | the `..`-in-manifest bug needs our CMakeLists workaround until pixi#7226 / rattler-build#2875 ship; `version = "*"` on the backend floats, so two rigs can build with different backends | the workaround runs once, in CI; the lock pins the package by sha256 on every machine | -| type-hash agreement (rmw_zenoh keys typed topics by the hash of the `.msg` text) | guaranteed only if every machine built the same source | guaranteed: one build per version, same bytes everywhere | -| who can be surprised | every new rig PC, every VS update, every student who clones to a long path | the maintainer who forgets to rebuild after a `.msg` change (the version bump below is the guard) | -| cost to run | 0 infrastructure, N × 5 min of setup and a compiler per PC | one workflow (`.github/workflows/rig-interfaces.yml`), three runners × 2–4 min per `.msg` change, one channel to own | - -The per-PC route works now (T2/T3) and is the right **developer** path. It is the wrong **rig** -path: the whole point of the two-environment split was that a rig PC always installs; a route -that needs an admin, a compiler, a path setting and an unmerged upstream fix on every PC -re-introduces exactly the install friction the decision procedure scored against. - -## Channel host - -Three options were measured or sketched (`typed-windows.md` §5). In order of preference: - -1. **In-repo channel, read over raw.githubusercontent.com** (T6: committed `rig/channel/`, - 5 s install on ww18). No account, no secret, no new host beyond GitHub, works today. Cost: the - repo grows by ~300 KiB per release (three platforms), and the channel URL must name an - immutable ref. **Use a tag, not a commit sha:** the commit that adds the packages also edits - `pixi.toml` to point at `rig-interfaces-vX.Y.Z`, and the tag is placed on that commit — one - commit, consistent, and the lock still pins each package's sha256. -2. **prefix.dev lab channel** with trusted publishing. No repo growth, OIDC instead of a token, - but someone has to own the channel and rigs gain `prefix.dev` in their allowlist (the source - build already needs it for the backend). The workflow's last step uploads there as soon as the - repository variable `RIG_INTERFACES_CHANNEL` and the secret `PREFIX_API_KEY` exist; nothing - else changes. -3. anaconda.org org channel: one host for everything, but an API-token secret to rotate. Not - chosen. - -Start with 1; move to 2 when the lab decides to own a channel. The workflow serves both. - -## What is implemented (this commit) - -`.github/workflows/rig-interfaces.yml`: - -- `build (win-64 | osx-arm64 | linux-64)` — `windows-2022` (VS 2022 → v143 found by conda-forge's - activation, no W2-1), `macos-14`, `ubuntu-24.04`; pixi `v0.80.0` (the ww18 pair; the backend is - not in the lock, so the version is pinned on purpose); on Windows - `pixi config set --local detached-environments C:\px` first (W2-2); then - `pixi build --path interfaces/rig_interfaces/pixi.toml --output-dir ../dist`, the archive - checked for its two inner tarballs, uploaded as `rig_interfaces-`. -- `channel` — downloads the three, lays them out as `channel//`, runs - `rattler-index fs channel` (the same indexer `pixi publish` used for the ww18 channel), prints - each package's sha256 and `ros2-distro-mutex` pin, uploads **`rig-interfaces-channel`** - (90 days). On a `rig-interfaces-v*` tag with the prefix.dev variable set it also uploads to - the hosted channel. -- Triggers: `pull_request` on `rig/interfaces/**` or the workflow file (build-only; the first - run is the push of this commit on PR #254 — the Windows job is the one to watch), tags - `rig-interfaces-v*`, `workflow_dispatch`. - -All three platforms are built because the workspace locks them together: a channel with only -win-64 cannot be re-locked (T5's first attempt). Nothing in `pixi.toml` changed: the default -environment is untouched, `typed` still builds from source, `typed-prebuilt` still reads the -ww18-built win-64 package committed on 2026-10-16. The CI build was verified locally on the -Mac before this commit (`pixi build` 17 s → `arena_interfaces-0.1.0-h60d57d3_0.conda`, -`rattler-index fs` → `repodata.json` + shards); the Windows runner is verified by the PR run. - -## Releasing a new build (the recipe) - -After any `.msg` change, or when re-locking onto a newer RoboStack (the package pins -`ros2-distro-mutex`): - -1. Bump the version in `interfaces/rig_interfaces/package.xml` **and** - `interfaces/rig_interfaces/pixi.toml` (same number). -2. Push; the PR run builds the three packages. Download the channel: - `gh run download -n rig-interfaces-channel -D rig/channel` (replace the - directory; `git rm -r rig/channel` first). -3. Point the prebuilt environment at the new tag and version (`rig/pixi.toml`): - - ```toml - [feature.typed-prebuilt] - platforms = ["win-64", "osx-arm64", "linux-64"] # all three are in the channel now - channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/rig-interfaces-v0.2.0/rig/channel"] - - [feature.typed-prebuilt.dependencies] - rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/rig-interfaces-v0.2.0/rig/channel" } - ``` - - `pixi lock` (or `pixi install -e typed-prebuilt`), commit packages + manifest + lock in ONE - commit, then `git tag rig-interfaces-v0.2.0 && git push --tags` on that commit. The tag push - runs the workflow once more (and uploads to prefix.dev when configured). -4. Rigs: `git pull && pixi install --locked -e typed-prebuilt`. - -**Second step, once the first CI channel is committed:** rename the environments so the rig path -is the short name — `typed` = the channel (what `WINDOWS-TEST.md` 7b calls `typed-prebuilt`), -`typed-src` = today's source build in its own solve group (the sketch in `typed-windows.md` §5). -Not done in this commit: it changes which environment the Windows test notes refer to, so it -belongs with the next rebuild, after the Bergamo PC run. - -## Not covered - -A per-PC build stays documented in `WINDOWS-TEST.md` 1b / `typed-windows.md` §2–§3 for `.msg` -authors. The workflow does not run the harness against the built package (that needs the 1 GB -ROS environment per runner; the harness runs on the rig PCs and the Mac). Hardware runs with -`-e typed` / `-e typed-prebuilt` were not repeated on ww18 (ww18 results, "Still open"). diff --git a/rig/docs/typed-windows.md b/rig/docs/typed-windows.md deleted file mode 100644 index 5b8e5d51..00000000 --- a/rig/docs/typed-windows.md +++ /dev/null @@ -1,326 +0,0 @@ -# Typed messages on Windows — W2 follow-up (ww18, 2026-10-15) - -*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* - -LAB-303 Plan B. Follow-up to finding **W2** in `../windows-results-ww18-2026-10-15.md`: the `typed` -environment compiled and linked on ww18, then failed while packaging with -``paths in archives must not have `..` when setting path for Library``. - -**Short answer.** Rig PCs can use typed messages without compiling anything: build -`arena_interfaces` once per platform in CI, publish it to a conda channel, and have the `typed` -environment depend on that package. Tested end to end on ww18 with a local file channel: a fresh -`pixi install --locked -e typed` took **9 s**, never started a build backend, and the harness -passed **48 / 48** with typed topics in the bag (§5). Building on the PC also works now: a -package-level CMake workaround (§2, commit 538cc85) plus a short build directory (§3) give a -35–36 s install and 48 / 48. That route still needs the MSVC v143 toolset and the `detached-environments` -setting on every PC. The upstream bug is known and a fix is open but not merged (§1, §4). - -## What was measured - -All on ww18: pixi 0.80.0, pixi-build-ros `0.7.6.20261014.1408.4ef64dd` (the newest build on -`prefix.dev/pixi-build-backends` today), MSVC 14.44.35207 (the v143 group inside VS 2026 Build -Tools), cmake 4.4.4, RoboStack Jazzy. Package cache warm. - -| # | Setup | `pixi install … -e typed` | Then | -|---|---|---|---| -| T1 | as committed before today, checkout `C:\w\t\ros2-poc` (15 chars) | **FAIL** after 32 s (17 s build): the `..` error; 21 of 151 entries in `.rattler-build-package-files` read `/Library/../Lib/site-packages/…` | — | -| T2 | + the CMakeLists.txt workaround (§2), same checkout, `--locked`, clean `bld/` | **PASS** 35 s (16 s build), lock unchanged; 151 files, 0 with `..` | `build_interfaces.py --check`: importable, serializes; harness **48 / 48** in 61 s, `typed topics: True` | -| T3 | T2 from this worktree (checkout path **79 chars**) + `detached-environments = 'C:\w\px'` | **PASS** 36 s; longest object path 253 chars | `--check`: importable, serializes | -| T4 | `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\w\chan` | 26 s → an indexed file channel, `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda` (101 KiB) | `pixi build --path … --output-dir` the same, 27 s | -| T5 | `typed` feature depends on `arena_interfaces` from that channel (no path dep, no toolchain), fresh env, `--locked` | **PASS 9 s, no build backend started** | `--check`: importable, serializes; harness **48 / 48** in 56 s, `typed topics: True` | -| T6 | 2026-10-16, **committed**: the T4 package in `channel/` (3051258), read by the new win-64 env `typed-prebuilt` over raw.githubusercontent.com pinned to that commit; own solve group (lock +552 lines, nothing else changed) | **PASS 5 s** `--locked`, nothing built; a second, fresh checkout path also passed (4 s), where pixi started the backend once to read the `typed` env's metadata | `--check`: importable, serializes; harness **49 / 49** in 52 s (one check more than T2/T5 by now), `typed topics: True` | - -T1–T3 and T5 were run in a scratch detached worktree at `C:\w\t` (T5's manifest change is not committed; -§5 has it). Logs, T1's package-file list and the §4b recipes are on ww18 in `C:\w\logs-w2\` (not -committed); the scratch worktree and envs were removed. - -## 1. Where the `..` comes from - -Three pieces, each fine alone: - -1. **pixi-build-ros' Windows template** (`crates/pixi_build_ros/templates/bld_ament_cmake.bat` in - prefix-dev/pixi, embedded in `pixi-build-ros.exe`) sets - `PYTHON_INSTALL_DIR = os.path.relpath(SP_DIR, LIBRARY_PREFIX)` = `../Lib/site-packages`. - This line comes from RoboStack's vinca templates. On conda's Windows layout, C/C++ files go - under `Library\` and Python under `Lib\site-packages`, so the relative value has to climb out. - On Linux and macOS the value is `lib/python3.12/site-packages` (no `..`), which is why the Mac - build always worked. -2. **prefix-dev/pixi#6691** (commit 40a25ff, 2026-07-28, "clean stale files from incremental - ROS Python builds"): the backend now reuses its host prefix between builds, so the template - stopped letting rattler-build diff the prefix. Instead it appends CMake's `install_manifest.txt` - to `%RATTLER_BUILD_PACKAGE_FILES%`. CMake records each destination as spelled: - `%PREFIX%/Library/../Lib/site-packages/arena_interfaces/msg/_arena_frame.py`. -3. **rattler-build's `Files::from_paths`** (`crates/rattler_build_core/src/packaging/file_finder.rs`, - the `RATTLER_BUILD_PACKAGE_FILES` reader from rattler-build #2476) accepts an entry when - `strip_prefix(prefix)` succeeds (a lexical check) and `exists()` is true (the OS resolves the - `..`). It never normalizes the path, and the tar writer then refuses the `..` component. - Reproduced with rattler-build 0.76.1 alone, no ROS and no compiler, in under 1 s (§4b). An entry - outside the prefix, spelled `$PREFIX/../outside.txt`, passes the containment check the same way. - -**Fixed upstream?** Not in any release. prefix-dev/pixi#6955 is open (since 2026-09-04); a -2026-10-09 comment reports exactly our error on `micro_ros_msgs`, plus the MAX_PATH problem. -prefix-dev/pixi#7226 (open since 2026-10-10, waiting for review) passes an absolute forward-slash -`PYTHON_INSTALL_DIR` instead. The newest backend build (2026-10-14) still has the `relpath` line; -I checked the template embedded in the binary. Nobody has filed the rattler-build side. - -Note for reproducibility: the backend is not in `pixi.lock`. `version = "*"` in -`interfaces/arena_interfaces/pixi.toml` floats to the newest nightly-style build on every fresh -build. That will pick up #7226 automatically, but it also means two rigs can build with different -backends. - -## 2. Package-level workaround (commit 538cc85) - -`interfaces/arena_interfaces/CMakeLists.txt`, before `find_package(ament_cmake)`: - -```cmake -if(WIN32 AND PYTHON_INSTALL_DIR MATCHES "^\\.\\./") - cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}" - NORMALIZE OUTPUT_VARIABLE _arena_python_install_dir) - set(PYTHON_INSTALL_DIR "${_arena_python_install_dir}") -endif() -``` - -This is the value #7226 would pass: absolute, normalized, forward slashes (backslashes would break -the generated `cmake_install.cmake`). A normal variable shadows the `-D` cache entry and reaches -rosidl's `arena_interfaces__py` subdirectory. The block is a no-op once upstream passes an -absolute path, and it never runs under colcon (`Lib/site-packages` relative to the install -prefix) or on Linux/macOS. Side effects, both harmless here: - -- ament_cmake_python byte-compiles `"${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/"`, so - with an absolute value it logs `Can't list '%PREFIX%/Library/%PREFIX%/Lib/site-packages/arena_interfaces'` - and compiles nothing. The package is unchanged either way: the 5 `.pyc` files in it come from - rattler-build's own post-build step ("Compiling 5 .py files to .pyc", in the failing build and in - the fixed one), not from ament's compileall, whose output never reaches `install_manifest.txt`. - (Corrected 2026-10-16; an earlier version said no `.pyc` were packaged.) -- `share/arena_interfaces/environment/pythonpath.dsv` now holds an absolute path. rattler-build - rewrites it to the install prefix (checked in the installed env); conda environments don't - read these hooks. - -## 3. MAX_PATH: `detached-environments` - -`cl.exe` failed with `C1083` once an object path passed 260 characters (W2-2). The build adds -about 211 characters below the pixi directory. pixi 0.80 offers no override for `.pixi/bld` -alone, but `detached-environments` moves the whole pixi directory (`pixi_dir()` in pixi_core), -build workspaces included, to `\-`: - -```powershell -pixi config set --local detached-environments C:\px # once per checkout (.pixi\config.toml) -pixi install -e typed -``` - -With `C:\w\px` the longest object path was 253 characters, from a checkout 79 characters deep (T3). -**Keep the directory at 12 characters or fewer.** One script assumed `.pixi\envs`: `rig.py`'s -viz-env check now uses the running env's sibling (`CONDA_PREFIX`), so `--foxglove` works with -detached envs. The harness's `find_node()` looks in the *root* workspace, which this setting -doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing it needs admin). - -## 4. Upstream — filed 2026-10-16 (text below as posted) - -### 4a. Comment on prefix-dev/pixi#7226 — [posted](https://github.com/prefix-dev/pixi/pull/7226#issuecomment-6217653890) - -> Confirming this on a second machine with the newest backend build, plus one side effect. -> -> **Setup:** pixi 0.80.0, `pixi-build-ros 0.7.6.20261014.1408.4ef64dd` (newest on -> prefix.dev/pixi-build-backends as of 2026-10-15; still has the `relpath` line), win-64 -> (Windows 11 26200), MSVC 14.44.35207 (v143 inside VS 2026 Build Tools), robostack-jazzy. The -> package is three `.msg` files: `ament_cmake` + `rosidl_generate_interfaces`, nothing else. -> -> **Before:** build and install succeed; packaging fails with -> ``paths in archives must not have `..` when setting path for Library``. 21 of the 151 lines in -> `.rattler-build-package-files` are `/Library/../Lib/site-packages/…`: every Python file, -> the egg-info and the three `.pyd`. -> -> **With the value this PR passes:** we can't change the template, so we applied it from the -> package's own CMakeLists.txt. If `PYTHON_INSTALL_DIR` starts with `../`, replace it with -> `cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}" NORMALIZE …)`. -> The package then builds, packages (151 files, none with `..`) and installs. The generated -> Python types import and serialize, and our end-to-end test passes with typed topics. -> -> **Side effect worth a line in the PR:** ament_cmake_python byte-compiles -> `"${CMAKE_INSTALL_PREFIX}/${ARG_DESTINATION}/"` (`ament_python_install_package.cmake`). With an -> absolute `PYTHON_INSTALL_DIR` that becomes `%PREFIX%/Library/%PREFIX%/Lib/site-packages/`, and the -> build logs `Can't list …` (not fatal). The package doesn't change: its 5 `.pyc` files come from -> rattler-build's own post-build step ("Compiling 5 .py files to .pyc", in the failing build and the fixed -> one alike), not from ament's compileall, whose output never reaches `install_manifest.txt`. If you'd rather keep the relative value the ament README asks for, you could instead normalize -> the manifest lines before appending them to `%RATTLER_BUILD_PACKAGE_FILES%`. Or rattler-build could -> normalize the list itself (prefix-dev/rattler-build#2875), which would cover every template. - -Edited on GitHub 2026-10-16: the `.pyc` sentence first said none were packaged; the package does -hold 5, compiled by rattler-build. The quote above is the corrected text. -> -> **On the MAX_PATH note in #6955:** `detached-environments` moves `bld/` along with the envs. With -> `pixi config set --local detached-environments C:\px`, a checkout 79 characters deep built fine for -> us (longest object path 253 characters). - -### 4b. Issue prefix-dev/rattler-build#2875 — [filed](https://github.com/prefix-dev/rattler-build/issues/2875) (links back to 4a) - -**Title:** `RATTLER_BUILD_PACKAGE_FILES` entries are not normalized: a `..` inside the prefix breaks -packaging (and passes the outside-prefix check) - -> `Files::from_paths` (`packaging/file_finder.rs`, the reader for `$RATTLER_BUILD_PACKAGE_FILES` -> from #2476) accepts an entry when `resolved.strip_prefix(prefix)` succeeds and `resolved.exists()` -> is true, then packages it under that spelling. `strip_prefix` is lexical but `exists()` resolves `..`, -> so: -> -> 1. a file inside the prefix spelled through `..` (`$PREFIX/Library/../Lib/x.py`) is accepted, then -> rejected by the archive writer: ``paths in archives must not have `..` when setting path for Library``; -> 2. a file **outside** the prefix spelled `$PREFIX/../outside.txt` is also accepted ("Largest files: -> 9 B - ../outside.txt"). The build then fails the same way instead of with `PackageFileOutsidePrefix`. -> -> This is how pixi-build-ros fails on Windows for every ROS interface package (prefix-dev/pixi#6955). -> CMake writes `install_manifest.txt` with each destination as spelled -> (`%LIBRARY_PREFIX%/../Lib/site-packages/…`), and the build script appends that manifest to the -> list. A template fix is open (prefix-dev/pixi#7226), but any build script that records CMake, meson -> or setuptools output paths can hit the same thing. -> -> **Repro** (rattler-build 0.76.1, win-64, no compiler, < 1 s): -> -> ```yaml -> package: -> name: dotdot-repro -> version: "0.1.0" -> build: -> number: 0 -> script: -> - if: win -> then: -> - mkdir "%LIBRARY_PREFIX%" "%PREFIX%\Lib\site-packages\repro" -> - echo hello> "%PREFIX%\Lib\site-packages\repro\hello.txt" -> - echo %LIBRARY_PREFIX:\=/%/../Lib/site-packages/repro/hello.txt>> "%RATTLER_BUILD_PACKAGE_FILES%" -> else: -> - mkdir -p "$PREFIX/share" "$PREFIX/lib/repro" -> - echo hello > "$PREFIX/lib/repro/hello.txt" -> - echo "$PREFIX/share/../lib/repro/hello.txt" >> "$RATTLER_BUILD_PACKAGE_FILES" -> ``` -> -> `rattler-build build --recipe recipe.yaml`: -> -> ``` -> │ │ Files in package: -> │ │ ├─ Library/../Lib/site-packages/repro/hello.txt (7 B) -> … -> Error: × Could not open or create, or write to file -> ╰─▶ paths in archives must not have `..` when setting path for Library -> ``` -> -> Variant 2: write `"%PREFIX%\..\outside.txt"` and record `%PREFIX:\=/%/../outside.txt`. The result -> is `9 B - ../outside.txt` in the package listing, then ``… must not have `..` when setting path for -> ././@LongLink``. (Only win-64 was run; the `else:` branch is the same mechanism on Unix.) -> -> **Suggested fix:** before the containment check, normalize each entry lexically: drop `.` and -> resolve `..` against the previous component, with no filesystem access. Then `strip_prefix`, and -> return `PackageFileOutsidePrefix` if the result leaves the prefix. Normalizing also makes the -> `HashSet` dedupe one file listed under two spellings. - -## 5. Fallback: build once in CI, publish to a channel - -**Decided 2026-10-16: this is the rig route** — `typed-distribution-decision.md` has the decision, the -implemented workflow (`.github/workflows/arena-interfaces.yml`) and the release recipe; the text below is the -measurement record and the original sketch. - -Rigs install `arena_interfaces` as a plain binary, like every RoboStack package. That means no -MSVC, no backend, no MAX_PATH and no `detached-environments`, and the `typed` install becomes a -download like the default one. T4 + T5 tested this on ww18 with a local file channel. - -**Consumer side** (what T5 ran, with the real channel URL): - -```toml -[feature.typed] -channels = ["https://prefix.dev/"] - -[feature.typed.dependencies] -arena_interfaces = { version = "0.1.*", channel = "https://prefix.dev/" } -ros-jazzy-rosidl-default-runtime = "*" - -# For whoever edits a .msg: today's source build, in its own solve group (the same package name -# from a path and from a channel cannot share one). -[feature.typed-src.dependencies] -arena_interfaces = { path = "interfaces/arena_interfaces" } -# … the ament/rosidl toolchain the typed feature carries today - -[environments] -typed = { features = ["typed"], solve-group = "poc" } -typed-src = { features = ["typed-src"], solve-group = "typed-src" } -``` - -**Build side** — a sketch, not added to `.github/workflows/` (it would run on this PR): - -```yaml -name: arena-interfaces -on: - push: - tags: ['arena-interfaces-v*'] - workflow_dispatch: -permissions: - contents: read - id-token: write # prefix.dev trusted publishing (OIDC), no stored token -jobs: - build: - strategy: - matrix: - include: - - { os: windows-2022, subdir: win-64 } # VS 2022 → conda-forge vs2022 finds v143 - - { os: macos-14, subdir: osx-arm64 } - - { os: ubuntu-24.04, subdir: linux-64 } - runs-on: ${{ matrix.os }} - steps: - - uses: actions/checkout@v5 - - uses: prefix-dev/setup-pixi@v0 # pin an exact version + pixi-version: v0.80.0 - with: { run-install: false } - - if: runner.os == 'Windows' # D:\a\webDisplayTools\webDisplayTools\ros2-poc is 45 chars: at the limit - working-directory: ros2-poc - run: pixi config set --local detached-environments C:\px - - working-directory: ros2-poc - run: pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist - - uses: actions/upload-artifact@v5 - with: { name: arena_interfaces-${{ matrix.subdir }}, path: dist/*.conda } - publish: # all three or nothing: see "partial channel" below - needs: build - runs-on: ubuntu-24.04 - steps: - - uses: actions/download-artifact@v5 - with: { path: dist, merge-multiple: true } - - uses: prefix-dev/setup-pixi@v0 - with: { run-install: false } - # trusted publishing: check the OIDC flag/behaviour of the rattler-build version you pin - - run: pixi exec rattler-build upload prefix --channel dist/*.conda -``` - -Notes and costs: - -- **Channel host.** A prefix.dev channel (free for public ones) gets OIDC trusted publishing, - so there is no token to rotate. It does add `prefix.dev` to a rig's network allowlist: today's - default env reaches only `conda.anaconda.org`, and the source build already reaches prefix.dev - for the backend. An anaconda.org org channel (`conda.anaconda.org/`) keeps a single host but - needs an API-token secret. A third option, tried for win-64 in T6: commit the `.conda` files - (~100 KiB each) to the repo. A relative `./channel` doesn't work, because pixi writes it into - `pixi.lock` as the committing machine's absolute path. Reading the same files over - raw.githubusercontent.com, pinned to a commit, keeps the lock portable. It also gives every rig a - dependency on GitHub's raw host, and the repo grows with every rebuild. -- **Partial channel = no lock.** The workspace locks win-64, osx-arm64 and linux-64 together. With - only the win-64 build in the channel, the lock could not resolve the other two platforms (seen in - T5 until the scratch feature was limited to win-64). So publish all three platforms in one job. -- **When to rebuild.** On every `.msg` change: bump the version in `package.xml` and in - `interfaces/arena_interfaces/pixi.toml`, tag, let CI publish, then `pixi update arena_interfaces` and commit the lock. Also - rebuild when re-locking onto a newer RoboStack: the package pins `ros2-distro-mutex` (`>=0.19,<0.20` - on win-64 and linux-64 in today's lock, `>=0.16,<0.17` on osx-arm64). Until someone re-locks, the - lock keeps every rig on the old build. -- **One build for the whole graph.** rmw_zenoh puts the message type hash in its key expressions, - so every node needs the same `.msg` version. The hash comes from the `.msg` text, so the Mac and - a rig agree when both install the same channel version. A source build on one machine and a stale - one on another would not see each other's typed topics. With the channel, the lock pins exact bytes - (`sha256`) on every machine. -- **Effort.** About 50 lines of workflow, one channel to own, three runner jobs of about 2–4 min per - `.msg` change. The CMakeLists workaround (§2) is still needed for the Windows CI build until - #7226 ships. - -## 6. What a Windows rig PC needs, per route - -| | default env (String topics) | typed, built on the PC (today) | typed, prebuilt channel (§5) | -|---|---|---|---| -| install | `pixi install` | `pixi install -e typed` | `pixi install -e typed` (today, for testing: `-e typed-prebuilt`, win-64, WINDOWS-TEST.md 7b) | -| compiler | — | MSVC **v143** toolset (VS 2022 Build Tools, or the v143 group in VS 2026; UAC, < 5 min) | — | -| path setup | — | short checkout **or** `detached-environments` ≤ 12 chars | — | -| network | conda.anaconda.org | + prefix.dev (backend) | + the channel host | -| ww18 time (warm) | 25 s | 35–36 s | 9 s | -| harness | 47 / 47 | 48 / 48 | 48 / 48 | diff --git a/rig/interfaces/rig_interfaces/CMakeLists.txt b/rig/interfaces/rig_interfaces/CMakeLists.txt deleted file mode 100644 index 3ea7d7de..00000000 --- a/rig/interfaces/rig_interfaces/CMakeLists.txt +++ /dev/null @@ -1,27 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(rig_interfaces) - -# Windows + pixi-build-ros (<= 0.7.6, 2026-10-14): the backend passes PYTHON_INSTALL_DIR as -# ../Lib/site-packages (relative to %LIBRARY_PREFIX%), CMake records that spelling in -# install_manifest.txt, the backend hands the manifest to rattler-build as the package's file -# list, and the archive writer refuses `Library/../Lib/...` ("paths in archives must not have -# `..`", prefix-dev/pixi#6955). Use the absolute, normalized, forward-slash path instead — the -# same value the pending upstream fix (prefix-dev/pixi#7226) passes, so this is a no-op once it -# ships. The installed tree is unchanged. colcon and Linux/macOS never take this branch. -if(WIN32 AND PYTHON_INSTALL_DIR MATCHES "^\\.\\./") - cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}" - NORMALIZE OUTPUT_VARIABLE _arena_python_install_dir) - set(PYTHON_INSTALL_DIR "${_arena_python_install_dir}") -endif() - -find_package(ament_cmake REQUIRED) -find_package(rosidl_default_generators REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "msg/FicTracFrame.msg" - "msg/ArenaFrame.msg" - "msg/ConnectorReply.msg" -) - -ament_export_dependencies(rosidl_default_runtime) -ament_package() diff --git a/rig/interfaces/rig_interfaces/msg/ArenaFrame.msg b/rig/interfaces/rig_interfaces/msg/ArenaFrame.msg deleted file mode 100644 index 344ad927..00000000 --- a/rig/interfaces/rig_interfaces/msg/ArenaFrame.msg +++ /dev/null @@ -1,38 +0,0 @@ -# One closed-loop evaluation: the frame index the display is asked to show for one FicTrac -# frame (LAB-303 Plan B, /arena/frame). THE field the record of truth needs is t_ms — the -# closed-loop node's OWN sample time, the instant idx, the bias phase and a pending tare were -# evaluated. A recorder's receive time lags it; offline reconstruction must use t_ms / ms. -# -# Since 2026-10-18 this is also THE FicTrac record in the bag (docs/development/ -# fictrac-columns-in-the-bag.md): the raw FicTrac topics are no longer recorded by default, and -# the 10 FicTrac columns the lab keeps ride here — cols 1, 15, 16, 17, 22 as before, plus -# cols 5, 6-8 and 23 below. One message per frame; one type for the live topic and the bag. -int64 t_ms # the node's wall clock at evaluation (ms since the Unix epoch) -int32 ms # the same instant relative to the run's t0 (behavior_v1 column `ms`) -int64 fc # FicTrac frame counter (col 1); 0 when an untracked frame carried none -int32 idx # displayed frame index (0-based) -bool has_ft # false when FicTrac's col-22 timestamp was absent -float64 ft # FicTrac camera timestamp relative to the first frame, ms (behavior_v1 `ft`) -float64 x # integrated x position, radians (col 15) -float64 y # integrated y position, radians (col 16) -float64 hd # integrated heading, radians (col 17) -uint32 epoch # +1 per heading tare; 0 before the first -float64 bias_deg # bias angle applied at this evaluation (0 when the bias is `none`) -uint64 seq # the bridge writer's emission order within the run (0 when unknown) -# Derived channels for live viewing (Foxglove) and ROS-native consumers ONLY — the hub message -# to the Studio and the behavior_v1 columns do not carry them. Two-point differences over -# consecutive frames on the FicTrac camera clock `ft` (falling back to the bridge clock when -# ft is absent), the way js/kinematics.js derives the same channels; NaN on the first frame -# of a run, when the clock does not advance, or when FicTrac restarted. In the BAG these two -# are always NaN (live-only since 2026-10-18): exactly recomputable offline, and 16 B per frame -# of incompressible doubles otherwise — a fifth of the record. -float64 turning_dps # heading rate, deg/s (positive = increasing FicTrac heading) -float64 forward_mms # forward velocity, mm/s (x/y step projected onto the heading × ball radius; --ball-mm, 9 mm default) -# The FicTrac columns kept beyond the behavior row (NaN / 0 when the line did not carry them). -float64 err # col 5: delta-rotation error score (FicTrac's optimizer residual; its only per-frame quality signal) -float64 dr_lab_x # cols 6-8: delta rotation vector in laboratory coordinates, radians/frame — -float64 dr_lab_y # the primary measurement everything else is integrated from -float64 dr_lab_z # (FicTrac: heading -= dr_lab_z; velx = dr_lab_y; vely = -dr_lab_x) -int64 ft_seq # col 23: sequence counter — equals fc until FicTrac's tracking is reset, then restarts at 1 -int64 ft_ns # col 22 as received, truncated to an integer (a ns camera clock on our rigs; FicTrac's doc says ms) -uint8 flags # bit 0: untracked frame (an FT_BADFR line — no columns; recorded so the bag says "untracked", not "missing"; no run-log row) diff --git a/rig/interfaces/rig_interfaces/msg/ConnectorReply.msg b/rig/interfaces/rig_interfaces/msg/ConnectorReply.msg deleted file mode 100644 index fd4bd6dc..00000000 --- a/rig/interfaces/rig_interfaces/msg/ConnectorReply.msg +++ /dev/null @@ -1,14 +0,0 @@ -# A device node's answer to one connector_command (LAB-303: BIAS today). Replies are typed so a -# ROS-native consumer (MATLAB, ros2 topic echo) sees named fields; the JSON-valued parts stay -# JSON strings because their shape is the device's, not ours. -string id # the command id the browser (or bias_cmd.py) minted -string connector # "bias" -string command # protocol plugin command, e.g. "startRecording" -bool ok -string outcome # "ok" | "error" | "unknown" (a timeout: the command may have taken effect) -string error # empty when ok -string value_json # the device's value, JSON-encoded ("null" when none) -string artifact_json # {"kind":"video","path":…} for startRecording, else "null" -string steps_json # per-HTTP-step results, JSON array -float64 rtt_ms -int64 t_ms # device-node wall clock when the command started (ms since the Unix epoch) diff --git a/rig/interfaces/rig_interfaces/msg/FicTracFrame.msg b/rig/interfaces/rig_interfaces/msg/FicTracFrame.msg deleted file mode 100644 index 05ca250f..00000000 --- a/rig/interfaces/rig_interfaces/msg/FicTracFrame.msg +++ /dev/null @@ -1,9 +0,0 @@ -# One FicTrac record as the UDP adapter received it (LAB-303 Plan B, typed topic /fictrac/frame). -# The adapter parses the line; `raw` keeps the verbatim bytes so the closed-loop math can stay -# byte-for-byte bridge 3.4's (Pipeline.handle_line) and nothing is lost if a column is added. -uint64 seq # adapter counter, 1-based -int64 rx_epoch_ms # adapter wall clock at receipt (ms since the Unix epoch) -int64 rx_mono_ns # adapter monotonic clock at receipt -string tag # "FT" (good frame), "FT_BADFR" (untracked), "" (offline / simulator line) -float64[] fields # the numeric columns after the tag (25 for FicTrac 2.x); empty when unparseable -string raw # the line, verbatim, without the newline diff --git a/rig/interfaces/rig_interfaces/package.xml b/rig/interfaces/rig_interfaces/package.xml deleted file mode 100644 index d2dd632e..00000000 --- a/rig/interfaces/rig_interfaces/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - rig_interfaces - 0.2.0 - Typed messages for the Reiser Lab arena bridge graph (LAB-303 Plan B spike): FicTracFrame, ArenaFrame, ConnectorReply. - Michael Reiser - MIT - - ament_cmake - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - - - ament_cmake - - diff --git a/rig/interfaces/rig_interfaces/pixi.toml b/rig/interfaces/rig_interfaces/pixi.toml deleted file mode 100644 index 8699997a..00000000 --- a/rig/interfaces/rig_interfaces/pixi.toml +++ /dev/null @@ -1,21 +0,0 @@ -# rig_interfaces as a pixi source package (LAB-303 Plan B item 3). The rig workspace -# depends on it by path (`rig_interfaces = { path = "interfaces/rig_interfaces" }`), so -# `pixi install` builds it with the RoboStack pixi-build-ros backend — a conda package made from -# this package.xml/CMakeLists.txt, with no colcon step and nothing to source. Preview feature: -# `preview = ["pixi-build"]` in the workspace manifest. Measured on the Mac: README "Plan B spike". -[package] -name = "rig_interfaces" -version = "0.2.0" - -[package.build] -backend = { name = "pixi-build-ros", version = "*", channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge", "https://prefix.dev/robostack-jazzy"] } - -[package.build.config] -distro = "jazzy" - -[package.host-dependencies] -ros-jazzy-ament-cmake = "*" -ros-jazzy-rosidl-default-generators = "*" - -[package.run-dependencies] -ros-jazzy-rosidl-default-runtime = "*" diff --git a/rig/mcap_bench.py b/rig/mcap_bench.py deleted file mode 100644 index b07e5005..00000000 --- a/rig/mcap_bench.py +++ /dev/null @@ -1,313 +0,0 @@ -#!/usr/bin/env python3 -"""mcap_bench.py — rosbag2 (C++) recording an image topic to MCAP, rmw_zenoh shared memory off vs on (LAB-303). - -The publisher is shm_bench_qpc.py's `pub` (rclpy, sensor_msgs/Image of a fixed size at a fixed -rate, incompressible payload). The only subscriber is a rosbag2 Recorder: a C++ generic -subscription that never deserializes, writing MCAP with the default storage profile. It is -driven through rosbag2_py the way `ros2 bag record` drives it, but stopped by a line on stdin -instead of SIGINT (Windows cannot deliver Ctrl+C to one child process). - - pixi run python mcap_bench.py run --out ww18_mcap.json - pixi run python mcap_bench.py run --cells 2097152@135 --modes on --duration 5 - -Per cell it reports what was sent, what ended up in the bag (by the frame_id sequence numbers in -the recorded CDR), the recorder's CPU per message (including the flush at stop), how long the -stop flush took, the recorder's mapped shared memory, and the rmw publish -> recorder receive -latency from each MCAP record's publish_time and log_time (both the system clock; rmw_zenoh -stamps the source timestamp after serialization, so rclpy's conversion is not included). -Bags go to --bag-dir and are deleted after they are counted unless --keep-bags. -""" - -from __future__ import annotations - -import argparse -import glob -import json -import os -import platform -import shutil -import statistics -import struct -import subprocess -import sys -import tempfile -import time - -import shm_bench as sb - -HERE = os.path.dirname(os.path.abspath(__file__)) -PUB_SCRIPT = os.path.join(HERE, "shm_bench_qpc.py") - - -# ── the recorder process ────────────────────────────────────────────────────────────────────── - - -def cmd_rec(args): - import datetime - - from ros2cli.node import NODE_NAME_PREFIX - from rosbag2_py import Recorder, RecordOptions, StorageOptions - - storage = StorageOptions( - uri=args.uri, - storage_id="mcap", - max_cache_size=args.cache_mb << 20, - storage_preset_profile=args.preset, - ) - ro = RecordOptions() - ro.topics = [sb.TOPIC] - ro.rmw_serialization_format = "" - ro.topic_polling_interval = datetime.timedelta(milliseconds=100) - ro.node_prefix = NODE_NAME_PREFIX - ro.disable_keyboard_controls = True - rec = Recorder(storage, ro, "info", "mcap_bench_recorder") - rec.start_spin() - rec.record() - print("READY", flush=True) - - cpu0, wall0 = time.process_time(), time.monotonic() - for line in sys.stdin: - cmd = line.strip() - if cmd == "mark": # the publisher is being started - cpu0, wall0 = time.process_time(), time.monotonic() - elif cmd == "stop": - break - cpu1, wall1 = time.process_time(), time.monotonic() - rec.stop() # flushes the cache and closes the bag - cpu2, wall2 = time.process_time(), time.monotonic() - shm = sb._shm_mapped() - rec.stop_spin() - print( - json.dumps( - { - "role": "rec", - "cpu_s": cpu2 - cpu0, - "wall_s": wall1 - wall0, - "stop_s": wall2 - wall1, - "shm_mapped": shm, - } - ), - flush=True, - ) - return 0 - - -# ── reading the bag ─────────────────────────────────────────────────────────────────────────── - - -def _read_bag(uri, size): - """Count what the recorder wrote: measured ("m") messages by sequence number, plus the - rmw publish -> recorder receive latency from MCAP publish_time / log_time.""" - from mcap.reader import make_reader - - files = sorted(glob.glob(os.path.join(uri, "*.mcap"))) - out = {"bag_files": len(files), "bag_bytes": sum(os.path.getsize(f) for f in files)} - seqs, lat, n_all, short = [], [], 0, 0 - same_t = 0 - for f in files: - with open(f, "rb") as fh: - for _schema, _chan, msg in make_reader(fh).iter_messages(log_time_order=False): - n_all += 1 - d = msg.data - # CDR_LE: 4-byte encapsulation, stamp sec/nanosec, then frame_id length + chars + NUL - (n,) = struct.unpack_from(" 20: - sys.exit(f"router did not come up on :{args.port}") - time.sleep(0.2) - - cells = [] - for c in args.cells.split(","): - size, rate = c.split("@") - cells.append((int(size), float(rate))) - - pub_args = [ - "--depth", str(args.depth), - "--duration", str(args.duration), - "--warmup", str(args.warmup), - ] + (["--reliable"] if args.reliable else ["--no-reliable"]) - - results = [] - try: - for mode in args.modes.split(","): - override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}" - env = dict(base, ZENOH_CONFIG_OVERRIDE=override) - for size, rate in cells: - uri = os.path.join(args.bag_dir, f"{mode}_{size}_{rate:g}") - shutil.rmtree(uri, ignore_errors=True) # rosbag2 refuses an existing directory - with open(uri + ".log", "w") as log: - rec = subprocess.Popen( - [sys.executable, me, "rec", "--uri", uri, "--cache-mb", str(args.cache_mb), "--preset", args.preset], - env=env, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=log, text=True, - ) - for _ in range(200): - line = rec.stdout.readline() - if not line or line.strip() == "READY": - break - print(f" [rec] {line.rstrip()}", file=sys.stderr) - if not line: - sys.exit(f"recorder did not start (see {uri}.log)") - rec.stdin.write("mark\n") - rec.stdin.flush() - pub = subprocess.Popen( - [sys.executable, PUB_SCRIPT, "pub", "--size", str(size), "--rate", str(rate)] + pub_args, - env=env, stdout=subprocess.PIPE, text=True, - ) - pout, _ = pub.communicate(timeout=args.duration + 60) - time.sleep(args.drain) - rec.stdin.write("stop\n") - rec.stdin.flush() - rout, _ = rec.communicate(timeout=180) - row = {"mode": mode, "size": size, "rate": rate} - for line in (pout + rout).splitlines(): - if line.startswith("{"): - d = json.loads(line) - role = d.pop("role") - row.update({f"{role}_{k}": v for k, v in d.items()}) - if os.path.isdir(uri): - row.update(_read_bag(uri, size)) - if row.get("bag_msgs") and row.get("rec_cpu_s") is not None: - row["rec_cpu_ms_per_msg"] = 1000 * row["rec_cpu_s"] / row["bag_msgs"] - if row.get("pub_sent") is not None and row.get("bagged") is not None: - row["lost"] = row["pub_sent"] - row["bagged"] - with open(uri + ".log") as f: - row["rec_log"] = [ - ln.rstrip() for ln in f if any(k in ln for k in ("lost", "WARN", "ERROR", "dropped")) - ] - if not args.keep_bags: - shutil.rmtree(uri, ignore_errors=True) - results.append(row) - _print_row(row) - for ln in row["rec_log"]: - print(f" rec log: {ln}", flush=True) - finally: - if router: - router.terminate() - try: - router.wait(5) - except subprocess.TimeoutExpired: - router.kill() - - meta = { - "host": platform.node(), - "platform": platform.platform(), - "python": platform.python_version(), - "rmw": "rmw_zenoh_cpp", - "recorder": "rosbag2_py Recorder, storage mcap", - "preset": args.preset or "default", - "cache_mb": args.cache_mb, - "bag_dir": os.path.abspath(args.bag_dir), - "reliable": args.reliable, - "depth": args.depth, - "duration_s": args.duration, - "when": time.strftime("%Y-%m-%d %H:%M:%S"), - } - if args.out: - with open(args.out, "w") as f: - json.dump({"meta": meta, "results": results}, f, indent=1) - print(f"wrote {args.out}") - return 0 - - -_HDR_DONE = False - - -def _print_row(r): - global _HDR_DONE - if not _HDR_DONE: - print( - f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'bagged/sent':>11} {'lost':>4} {'pub()':>6} " - f"{'pubCPU':>6} {'recCPU':>6} {'stop s':>6} {'p50 ms':>7} {'p99 ms':>7} {'max ms':>7} {'shm map pub/rec':>16}", - flush=True, - ) - _HDR_DONE = True - g = r.get - nan = float("nan") - rec_pct = g("rec_cpu_ms_per_msg", nan) * g("pub_rate_hz", nan) / 10 # ms/message x achieved Hz - shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('rec_shm_mapped') or 'n/a'}" - mbps = r["size"] * g("pub_rate_hz", 0) / 1e6 - print( - f"{r['mode']:>3} {sb._human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} " - f"{g('bagged', 0):>5}/{g('pub_sent', 0):<5} {g('lost', -1):>4} " - f"{g('pub_publish_call_ms_p50', nan):>6.2f} {g('pub_cpu_pct', nan):>5.0f}% {rec_pct:>5.0f}% " - f"{g('rec_stop_s', nan):>6.2f} {g('lat_ms_p50', nan):>7.2f} {g('lat_ms_p99', nan):>7.2f} " - f"{g('lat_ms_max', nan):>7.2f} {shm_s:>16}", - flush=True, - ) - - -def main(): - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - sp = ap.add_subparsers(dest="cmd", required=True) - p = sp.add_parser("rec") - p.add_argument("--uri", required=True) - p.add_argument("--cache-mb", type=int, default=100) - p.add_argument("--preset", default="") - p = sp.add_parser("run") - p.add_argument( - "--cells", - default="2097152@135,8388608@30", - help="size@rate list (default: BIAS-rate 2 MP frame, 8 MB at 30 Hz)", - ) - p.add_argument("--modes", default="off,on") - p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell") - p.add_argument("--warmup", type=float, default=1.0) - p.add_argument("--depth", type=int, default=10) - p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True) - p.add_argument("--drain", type=float, default=1.0, help="seconds between the publisher exiting and stop") - p.add_argument("--cache-mb", type=int, default=100, help="rosbag2 max_cache_size (ros2 bag record default 100)") - p.add_argument("--preset", default="", help="MCAP storage preset ('' = default, fastwrite, zstd_fast, ...)") - p.add_argument("--bag-dir", default=os.path.join(tempfile.gettempdir(), "mcap_bench")) - p.add_argument("--keep-bags", action="store_true") - p.add_argument("--port", type=int, default=7457) - p.add_argument("--domain", type=int, default=42) - p.add_argument("--out") - args = ap.parse_args() - return {"rec": cmd_rec, "run": cmd_run}[args.cmd](args) - - -if __name__ == "__main__": - sys.exit(main()) diff --git a/rig/nodes/_common.py b/rig/nodes/_common.py deleted file mode 100644 index f5d42efc..00000000 --- a/rig/nodes/_common.py +++ /dev/null @@ -1,245 +0,0 @@ -"""_common.py — the few things every PoC node shares (kept tiny on purpose). - -* `wrap_line` — THE adapter envelope the bridge node parses. One definition, so a field - added for one source cannot silently differ for another. -* `RELIABLE_QOS` — reliable / keep-last 200: the run log must hold every frame. -* `spin` — rclpy.spin + the Jazzy shutdown boilerplate (Ctrl-C raises - ExternalShutdownException from spin, and rclpy's own handler may already - have shut the context down, so try_shutdown can raise too). -* `wait_port` — poll a TCP port (the Zenoh router on 127.0.0.1:7447). -* `wall_ns` / `wall_ms` / `mono_ns` / `raise_timer_resolution` — sub-ms clocks on Windows too. -""" - -from __future__ import annotations - -import json -import os -import signal -import socket -import subprocess -import time - -import rclpy -from rclpy.executors import ExternalShutdownException -from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy - -# ── clocks ─────────────────────────────────────────────────────────────────────────────── -# Python 3.12 on Windows (RoboStack Jazzy pins it): time.time() is GetSystemTimeAsFileTime, -# which advances once per timer interrupt — 15.625 ms unless some process has raised the rate — -# and time.monotonic() is GetTickCount64, 15.625 ms always. Measured on ww18 2026-10-15: idle -# PC, run-log `ms` stamps would come in 15.6 ms steps, 2.3 ms behind the true time. -# GetSystemTimePreciseAsFileTime is the wall clock interpolated with the performance counter -# (~1 µs; what Python 3.13 made time.time()), and perf_counter is QueryPerformanceCounter. -# Elsewhere these are the stdlib clocks unchanged. -if os.name == "nt": - import ctypes - from ctypes import wintypes - - _k32 = ctypes.WinDLL("kernel32", use_last_error=True) - _k32.GetSystemTimePreciseAsFileTime.argtypes = [ctypes.POINTER(ctypes.c_ulonglong)] - _k32.GetSystemTimePreciseAsFileTime.restype = None - _k32.GetCurrentProcess.restype = wintypes.HANDLE - _k32.SetProcessInformation.argtypes = [wintypes.HANDLE, ctypes.c_int, ctypes.c_void_p, wintypes.DWORD] - _k32.SetProcessInformation.restype = wintypes.BOOL - _FILETIME_UNIX_EPOCH = 116444736000000000 # 100 ns intervals from 1601-01-01 to 1970-01-01 - - def wall_ns() -> int: - ft = ctypes.c_ulonglong() - _k32.GetSystemTimePreciseAsFileTime(ctypes.byref(ft)) - return (ft.value - _FILETIME_UNIX_EPOCH) * 100 - - mono_ns = time.perf_counter_ns -else: - wall_ns = time.time_ns - mono_ns = time.monotonic_ns - - -def wall_ms() -> int: - """Wall-clock ms since the epoch, like bridge.py's now_ms() but precise on Windows.""" - return wall_ns() // 1_000_000 - - -def raise_timer_resolution(period_ms: int = 1) -> bool: - """Windows: a `period_ms` system timer for THIS process (timeBeginPeriod; per process since - Windows 10 2004), kept when its console is hidden (Windows 11 otherwise may ignore the - request for an occluded or minimized process). Sharpens waits and timeouts — socket, - asyncio, rcl; the stamps do not depend on it (wall_ns). Windows releases it at exit. - Returns True when granted; a no-op elsewhere.""" - if os.name != "nt": - return False - try: - granted = ctypes.WinDLL("winmm").timeBeginPeriod(period_ms) == 0 # TIMERR_NOERROR - - class _PowerThrottling(ctypes.Structure): - _fields_ = [("Version", wintypes.ULONG), ("ControlMask", wintypes.ULONG), ("StateMask", wintypes.ULONG)] - - # ProcessPowerThrottling = 4; PROCESS_POWER_THROTTLING_IGNORE_TIMER_RESOLUTION = 0x4, - # StateMask 0 = never ignore this process's timer request. - st = _PowerThrottling(1, 0x4, 0) - _k32.SetProcessInformation(_k32.GetCurrentProcess(), 4, ctypes.byref(st), ctypes.sizeof(st)) - return granted - except (AttributeError, OSError): - return False - - -RELIABLE_QOS = QoSProfile( - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=200, - durability=QoSDurabilityPolicy.VOLATILE, -) - - -def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str: - """Adapter envelope: {"src","seq","rx_epoch_ms","rx_mono_ns","raw"} as compact JSON.""" - return json.dumps( - {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw}, - separators=(",", ":"), - ) - - -def spin(node) -> None: - """rclpy.spin(node) until Ctrl-C / external shutdown, then destroy + shut down quietly.""" - try: - rclpy.spin(node) - except (KeyboardInterrupt, ExternalShutdownException): - pass - finally: - node.destroy_node() - try: - rclpy.try_shutdown() - except Exception: # rclpy's SIGINT handler may already have shut the context down - pass - - -# Windows' signal module has no SIGKILL; every "kill it" site uses this constant so the -# escalation paths (rig.py, the test harness, signal_group) do not raise AttributeError there. -SIGKILL = getattr(signal, "SIGKILL", 9) - - -def popen_group(argv: list, **kwargs) -> subprocess.Popen: - """Popen with the child in its OWN process group, on every platform, so a stop signal - reaches wrappers and what they spawn (`ros2 run … rmw_zenohd` does not forward SIGINT - to the router binary). POSIX: setsid; Windows: CREATE_NEW_PROCESS_GROUP, which is also - what makes CTRL_BREAK_EVENT deliverable to that child.""" - if os.name == "nt": - kwargs.setdefault("creationflags", subprocess.CREATE_NEW_PROCESS_GROUP) - else: - kwargs.setdefault("start_new_session", True) - return subprocess.Popen(argv, **kwargs) - - -def signal_group(proc: subprocess.Popen, sig: int) -> None: - """Send SIGINT / SIGTERM / SIGKILL to the child's whole group, portably. - Windows has no SIGINT for other processes (send_signal raises ValueError): SIGINT maps to - CTRL_BREAK_EVENT on the child's group, SIGTERM and SIGKILL to TerminateProcess.""" - if os.name == "nt": - if sig == signal.SIGINT: - try: - proc.send_signal(signal.CTRL_BREAK_EVENT) # type: ignore[attr-defined] - return - except (ValueError, OSError): - pass - proc.kill() if sig == SIGKILL else proc.terminate() - return - try: - os.killpg(proc.pid, sig) - except (ProcessLookupError, PermissionError): - proc.send_signal(sig) - - -def wait_port(host: str, port: int, timeout_s: float) -> bool: - end = time.monotonic() + timeout_s - while time.monotonic() < end: - try: - with socket.create_connection((host, port), timeout=0.5): - return True - except OSError: - time.sleep(0.2) - return False - - -# ── typed interfaces (LAB-303 Plan B item 3) ────────────────────────────────────────── -INTERFACES_INSTALL = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "interfaces", "install") - - -def _prepend_env(name: str, value: str) -> None: - cur = os.environ.get(name, "") - parts = cur.split(os.pathsep) if cur else [] - if value not in parts: - os.environ[name] = os.pathsep.join([value] + parts) - - -def setup_interfaces(prefix: str | None = None) -> bool: - """Make a colcon-built `interfaces/install` visible to THIS process and its children — - the equivalent of sourcing install/setup.sh, done in Python so Windows needs no shell - script. Returns True when the prefix exists. Call it BEFORE importing rig_interfaces.""" - import sys as _sys - - prefix = prefix or INTERFACES_INSTALL - if not os.path.isdir(prefix): - return False - _prepend_env("AMENT_PREFIX_PATH", prefix) - libdir = os.path.join(prefix, "lib") - bindir = os.path.join(prefix, "bin") - _prepend_env("PATH", bindir if os.name == "nt" else libdir) - # rcpputils::find_library_path searches these for the typesupport libraries. - _prepend_env("DYLD_LIBRARY_PATH" if _sys.platform == "darwin" else "LD_LIBRARY_PATH", libdir) - if os.name == "nt": - _prepend_env("PATH", libdir) - try: - os.add_dll_directory(libdir) - except (AttributeError, OSError): - pass - sp = None - if os.name == "nt": - cand = os.path.join(prefix, "Lib", "site-packages") - sp = cand if os.path.isdir(cand) else None - if sp is None: - pyver = f"python{_sys.version_info.major}.{_sys.version_info.minor}" - cand = os.path.join(libdir, pyver, "site-packages") - sp = cand if os.path.isdir(cand) else None - if sp: - _prepend_env("PYTHONPATH", sp) - if sp not in _sys.path: - _sys.path.insert(0, sp) - return True - - -def probe_interfaces(): - """(ArenaFrame, FicTracFrame) when rig_interfaces imports AND its typesupport actually - loads — else None. An import alone is not enough: a package that is importable but whose - typesupport library cannot be dlopen'ed (seen with a colcon install visible from the - default env: `RMWError: … Could not load library librig_interfaces__rosidl_typesupport_ - fastrtps_c.dylib`) would otherwise make a node pick typed topics and die at its first - message. One serialize_message() is the test. - - The ENVIRONMENT's package (pixi-build, `pixi install -e typed`) is tried FIRST and a colcon - `interfaces/install` is consulted only when nothing imports without it. Prepending a stale - colcon prefix on top of the env mixed two builds (2026-10-14, after ArenaFrame gained two - fields): the old Python class + C struct from the prefix, the new typesupport library from - the env — rclpy serialized 16 bytes PAST the struct, and every recorded frame carried - garbage in the new fields while the harness stayed green. One build per process, always.""" - found = _try_interfaces() - if found is not None: - return found - if setup_interfaces(): - return _try_interfaces() - return None - - -def _try_interfaces(): - try: - from rig_interfaces.msg import ArenaFrame, FicTracFrame - from rclpy.serialization import serialize_message - - serialize_message(ArenaFrame()) - serialize_message(FicTracFrame()) - return ArenaFrame, FicTracFrame - except Exception: - return None - - -def interfaces_available() -> bool: - """True when rig_interfaces imports and serializes (after setup_interfaces).""" - return probe_interfaces() is not None diff --git a/rig/nodes/_rows.py b/rig/nodes/_rows.py index ca975912..5c786c9d 100644 --- a/rig/nodes/_rows.py +++ b/rig/nodes/_rows.py @@ -5,7 +5,7 @@ without a ROS process. * Kinefly KF/1 → the compact ["kf", …] row (kf_row) - * a FicTrac line → (tag, fields) (parse_fictrac_line) + * a FicTrac line → (tag, fields) (parse_fictrac_line, from rig_nodes.fictrac) * the FicTrac columns kept in the ArenaFrame record (docs/development/fictrac-columns-in-the-bag.md, decided 2026-10-18): cols 5, 6-8, 22 native, 23 (fictrac_extras) * an ArenaFrame record (typed fields or the hub message) → the behavior_v1 row @@ -28,25 +28,10 @@ BEHAVIOR_ROW_COLS = ("ms", "fc", "idx", "ft", "x", "y", "hd") # == bridge.py BEHAVIOR_V1_COLS (never widened) -def parse_fictrac_line(raw: str) -> tuple[str, list[float]]: - """(tag, fields) the way bridge.py's Pipeline parses: a leading FT* token is the tag - ('' when absent, as in offline .dat lines and the simulator); fields = the floats after - it, or [] when the line is not numeric (a bad frame has no usable data).""" - parts = raw.strip().split(",") - tag = "" - if parts and parts[0].strip()[:2].upper() == "FT": - tag = parts[0].strip() - parts = parts[1:] - try: - return tag, [float(p) for p in parts] - except ValueError: - return tag, [] - - -def is_bad_frame_tag(tag: str) -> bool: - """FicTrac's socket output tags every record: "FT" = tracked, anything else starting with - FT (seen: "FT_BADFR") = a frame it could not track.""" - return tag[:2].upper() == "FT" and tag != "FT" +# The FicTrac line grammar (tag + 25 columns) is device knowledge and lives with the adapter in +# rig_nodes.fictrac (reiserlab/rig-nodes; pure, no ROS). Re-exported so the gateway and the +# converter keep ONE parser — the fidelity promise `converted == live` depends on it. +from rig_nodes.fictrac import is_bad_frame_tag, parse_fictrac_line # noqa: E402,F401 def fictrac_extras(fields: list[float] | None) -> dict: diff --git a/rig/nodes/bias_cmd.py b/rig/nodes/bias_cmd.py deleted file mode 100644 index b6e871d6..00000000 --- a/rig/nodes/bias_cmd.py +++ /dev/null @@ -1,88 +0,0 @@ -#!/usr/bin/env python3 -"""bias_cmd.py — send one plugin command to bias_node.py and print its reply. - - pixi run bias-cmd -- connect - pixi run bias-cmd -- startRecording --filename trial_001.avi - pixi run bias-cmd -- stopRecording - pixi run bias-cmd -- getTimestamp --json - -Exit 0 on `ok`, 1 on an error reply, 3 on an UNKNOWN outcome (timeout), 2 on no reply. -""" - -from __future__ import annotations - -import argparse -import json -import sys -import threading -import time -import uuid - -import rclpy -from rclpy.node import Node -from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy -from std_msgs.msg import String - -QOS = QoSProfile( - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=50, - durability=QoSDurabilityPolicy.VOLATILE, -) - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("command", help="connect | startRecording | stopRecording | startPreview | stopCapture | getTimestamp | disconnect") - p.add_argument("--filename", help="startRecording: video file name/path") - p.add_argument("--ip", help="connect: BIAS host") - p.add_argument("--port", type=int, help="connect: BIAS command port") - p.add_argument("--config-file", help="connect: BIAS configuration file to load") - p.add_argument("--timeout", type=float, default=10.0, help="seconds to wait for the reply (default: 10)") - p.add_argument("--json", action="store_true", help="print the raw reply JSON") - args, ros_args = p.parse_known_args(argv) - params = {k: v for k, v in (("filename", args.filename), ("ip", args.ip), ("port", args.port), ("config_file", args.config_file)) if v} - cid = str(uuid.uuid4())[:8] - - rclpy.init(args=ros_args) - node = Node("bias_cmd_" + cid) - got = {} - done = threading.Event() - - def on_reply(msg: String) -> None: - try: - rep = json.loads(msg.data) - except json.JSONDecodeError: - return - if isinstance(rep, dict) and rep.get("id") == cid: - got.update(rep) - done.set() - - node.create_subscription(String, "/bias/reply", on_reply, QOS) - pub = node.create_publisher(String, "/bias/cmd", QOS) - time.sleep(0.5) # discovery - m = String() - m.data = json.dumps({"id": cid, "command": args.command, "params": params}) - pub.publish(m) - deadline = time.monotonic() + args.timeout - while not done.is_set() and time.monotonic() < deadline: - rclpy.spin_once(node, timeout_sec=0.1) - node.destroy_node() - try: - rclpy.try_shutdown() - except Exception: # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy) - pass - if not got: - print(f"[bias-cmd] no reply within {args.timeout:g}s (is `pixi run bias-node` running?)", file=sys.stderr) - return 2 - if args.json: - print(json.dumps(got, indent=1)) - else: - print(f"{got.get('command')} → {got.get('outcome')} ({got.get('rtt_ms')} ms)" + (f" value={got.get('value')!r}" if got.get("value") not in (None, "") else "") + (f" error={got.get('error')}" if got.get("error") else "")) - if got.get("artifact"): - print(f"artifact: {got['artifact']}") - return 0 if got.get("ok") else (3 if got.get("outcome") == "unknown" else 1) - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/bias_node.py b/rig/nodes/bias_node.py deleted file mode 100644 index 32c94913..00000000 --- a/rig/nodes/bias_node.py +++ /dev/null @@ -1,378 +0,0 @@ -#!/usr/bin/env python3 -"""bias_node.py — the BIAS camera as a ROS 2 node: protocol plugin commands in, replies + status out. - -BIAS has no ROS node; this adapter talks to its external-control HTTP interface -(`http://host:port/?command[=value]`, JSON-array replies — see bias_sim.py) and exposes it -on three topics, all std_msgs/String JSON (no custom message types): - - /bias/cmd IN {"id": , "command": , "params": {…}} - /bias/reply OUT {"id", "command", "ok", "outcome": "ok"|"error"|"unknown", "value", - "error", "steps": [...per HTTP command...], "rtt_ms", "t_ms", - "rx_epoch_ms", "artifact": {"kind":"video","path":…} (startRecording)} - /bias/status OUT every --status-every s: {"reachable", "connected", "capturing", - "logging", "frameCount", "framesPerSec", "videoFile", "rtt_ms", …} - /bias/frames OUT after stopRecording: every frame's BIAS timestamp from its stamp log, - {"video", "stamp_log", "chunk", "chunks", "first_index", "t": […]} - -The `command` vocabulary is the protocol's `camera` plugin (js/plugin-registry.js -BiasPlugin): connect(ip, port, config_file), startRecording(filename), stopRecording, -startPreview, stopCapture, getTimestamp, disconnect — each mapped to the BIAS HTTP -sequence `BiasPlugin.m` performs. The bridge node logs every reply and status line into the -run log as `{"type":"connector","src":"bias",…}` events, so the video file identity -(`artifact`) and every command/reply pair sit in the same file as the FicTrac rows. - -LAB-303 semantics carried here: `timeout_s` per HTTP call (`slow_timeout_s` for the camera / -writer commands in SLOW_HTTP — a real camera connect takes seconds); a timeout is an UNKNOWN outcome -(`outcome: "unknown"`), after which the node reconciles with `get-status` before anything -else. `critical` / `on_loss` are the runner's decision (the Studio side, shared by both -plans) — the node only reports. - - pixi run bias-node -- --host 127.0.0.1 --port 5010 - pixi run bias-cmd -- startRecording --filename trial_001.avi -""" - -from __future__ import annotations - -import argparse -import glob -import hashlib -import json -import os -import queue -import sys -import threading -import time -import urllib.error -import urllib.parse -import urllib.request - -import rclpy -from rclpy.node import Node -from std_msgs.msg import String - -from _common import RELIABLE_QOS, raise_timer_resolution, spin, wall_ms - -CMD_TOPIC = "/bias/cmd" -REPLY_TOPIC = "/bias/reply" -STATUS_TOPIC = "/bias/status" -# Every frame's BIAS timestamp for a finished recording, read from BIAS's stamp_log_cam.txt at -# stopRecording: {"video", "stamp_log", "chunk", "chunks", "first_index", "t": [s, …]}, ≤ STAMP_CHUNK each. -FRAMES_TOPIC = "/bias/frames" -STAMP_CHUNK = 20000 -QOS = RELIABLE_QOS -PLUGIN_COMMANDS = ("connect", "startRecording", "stopRecording", "startPreview", "stopCapture", "getTimestamp", "disconnect") -# HTTP commands that touch the camera or the video writer and can legitimately take seconds: -# the Atlas10 BIAS on ww18 answers `connect` after 2.18 s (camera discovery + transport setup), -# past the 2 s per-call timeout, so a successful connect came back `outcome: "unknown"`. -SLOW_HTTP = frozenset({"connect", "disconnect", "load-configuration", "start-capture", "stop-capture", "close"}) - - -class BiasHttp: - """Blocking HTTP client for BIAS's command port. One command per request.""" - - def __init__(self, host: str, port: int, timeout_s: float, slow_timeout_s: float | None = None) -> None: - self.host = host - self.port = port - self.timeout_s = timeout_s - self.slow_timeout_s = max(timeout_s, slow_timeout_s if slow_timeout_s is not None else timeout_s) - - @property - def base(self) -> str: - return f"http://{self.host}:{self.port}/" - - def timeout_for(self, command: str) -> float: - return self.slow_timeout_s if command in SLOW_HTTP else self.timeout_s - - def call(self, command: str, value: str | None = None) -> dict: - """→ {"command", "ok", "message", "value", "rtt_ms"} or raises TimeoutError / OSError.""" - q = command if value is None else f"{command}={urllib.parse.quote(str(value), safe='/:\\')}" - url = f"{self.base}?{q}" - # perf_counter, not monotonic: on Windows monotonic ticks every 15.625 ms (GetTickCount64), - # which turned every RTT into 0 / 15 / 16 / 31 ms (ww18 2026-10-15). - t0 = time.perf_counter() - try: - with urllib.request.urlopen(url, timeout=self.timeout_for(command)) as resp: - body = resp.read() - except urllib.error.URLError as exc: - if isinstance(exc.reason, TimeoutError) or "timed out" in str(exc.reason): - raise TimeoutError(str(exc)) from exc - raise OSError(str(exc)) from exc - except TimeoutError: - raise - rtt = (time.perf_counter() - t0) * 1000.0 - try: - arr = json.loads(body.decode("utf-8")) - except (UnicodeDecodeError, json.JSONDecodeError): - raise OSError(f"non-JSON reply from BIAS: {body[:80]!r}") - rep = arr[0] if isinstance(arr, list) and arr else (arr if isinstance(arr, dict) else {}) - if not isinstance(rep, dict): - raise OSError(f"unexpected reply element from BIAS: {rep!r}") - return { - "command": command, - "ok": bool(rep.get("success", False)), - "message": rep.get("message", ""), - "value": rep.get("value", None), - "rtt_ms": round(rtt, 2), - } - - -def resolve_video(requested: str, since_epoch_s: float) -> str | None: - """The file BIAS actually writes for `requested`, or None. BIAS's `get-video-file` answers - `/.`, but its writer adds the auto-naming suffix (`_cam_0_date_…_v001.` - on the Atlas10 build, a `…_v001` folder on the Mac port), so that path never exists (ww18 - 2026-10-15: artifact `poc.ufmf`, file `poc_cam_0_date_2026_10_15_time_13_43_10_v001.ufmf`). - Newest `*` entry in that folder touched since the recording started; the exact name - wins when it exists (bias_sim, or BIAS with auto-naming off).""" - if not requested: - return None - folder, base = os.path.split(os.path.normpath(requested)) - stem, ext = os.path.splitext(base) - if os.path.exists(os.path.join(folder, base)): - return os.path.join(folder, base) - cands = [p for p in glob.glob(os.path.join(glob.escape(folder), glob.escape(stem) + "*")) - if (os.path.isdir(p) or p.lower().endswith(ext.lower())) and os.path.getmtime(p) >= since_epoch_s - 5.0] - return max(cands, key=os.path.getmtime) if cands else None - - -def read_stamp_log(folder: str, since_epoch_s: float, settle_s: float = 3.0) -> dict | None: - """BIAS's per-frame timestamps for the recording that just stopped: the newest - `stamp_log_cam*.txt` in the video folder written since the start (BIAS writes ONE per camera - and overwrites it on the next recording, so it has to be read now). Waits until the size is - stable — the logger drains its queue after stop-capture. → {path, t: [s…], sha256, bytes}.""" - cands = [p for p in glob.glob(os.path.join(glob.escape(folder), "stamp_log_cam*.txt")) - if os.path.getmtime(p) >= since_epoch_s - 5.0] - if not cands: - return None - path = max(cands, key=os.path.getmtime) - end, last = time.monotonic() + settle_s, -1 - while time.monotonic() < end: - size = os.path.getsize(path) - if size == last and size > 0: - break - last = size - time.sleep(0.15) - with open(path, "rb") as fh: - raw = fh.read() - t = [] - for line in raw.decode("ascii", errors="replace").splitlines(): - try: - t.append(float(line.split()[0])) - except (ValueError, IndexError): - continue - return {"path": path, "t": t, "sha256": hashlib.sha256(raw).hexdigest(), "bytes": len(raw)} - - -def plan(command: str, params: dict) -> list[tuple[str, str | None]]: - """Plugin command → BIAS HTTP steps (the sequence BiasPlugin.m performs).""" - params = params or {} - if command == "connect": - steps: list[tuple[str, str | None]] = [("connect", None)] - if params.get("config_file"): - steps.append(("load-configuration", str(params["config_file"]))) - return steps - if command == "startRecording": - steps = [] - if params.get("filename"): - steps.append(("set-video-file", str(params["filename"]))) - steps += [("enable-logging", None), ("start-capture", None), ("get-video-file", None)] - return steps - if command == "stopRecording": - return [("stop-capture", None), ("disable-logging", None)] - if command == "startPreview": - return [("disable-logging", None), ("start-capture", None)] - if command == "stopCapture": - return [("stop-capture", None)] - if command == "getTimestamp": - return [("get-time-stamp", None)] - if command == "disconnect": - return [("disconnect", None)] - raise ValueError(f"unknown plugin command {command!r} (one of {PLUGIN_COMMANDS})") - - -class BiasNode(Node): - def __init__(self, http: BiasHttp, status_every_s: float, video_dir: str | None = None) -> None: - super().__init__("bias_camera") - self.http = http - # Where a RELATIVE startRecording filename lands (MATLAB's BiasPlugin resolves it - # against the experiment folder; on a rig this comes from the rig YAML). None = pass - # the name through and warn (BIAS then resolves it against ITS cwd). - self.video_dir = video_dir - self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS) - self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS) - self.frames_pub = self.create_publisher(String, FRAMES_TOPIC, QOS) - self._rec: dict | None = None # the recording in progress: {"requested", "t0"} (startRecording → stopRecording) - self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS) - self._q: queue.Queue = queue.Queue() - self._status_pending = False # at most ONE get-status poll waits in the queue - self._worker = threading.Thread(target=self._work, name="bias-http", daemon=True) - self._worker.start() - self._status_every = status_every_s - if status_every_s > 0: - self.create_timer(status_every_s, self._enqueue_status) - self.commands = 0 - self.get_logger().info(f"BIAS at {http.base} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s") - - def _publish(self, pub, obj: dict) -> None: - obj.setdefault("rx_epoch_ms", wall_ms()) - m = String() - m.data = json.dumps(obj, separators=(",", ":"), default=str) - pub.publish(m) - - def _on_cmd(self, msg: String) -> None: - try: - req = json.loads(msg.data) - except json.JSONDecodeError: - self._publish(self.reply_pub, {"id": None, "ok": False, "outcome": "error", "error": "command is not JSON"}) - return - if not isinstance(req, dict): - return - self._q.put(("cmd", req)) - - def _enqueue_status(self) -> None: - # Coalesce: when BIAS is slow or black-holed each poll blocks up to timeout_s, and a - # poll per period would build an unbounded line that commands then wait behind. - if not self._status_pending: - self._status_pending = True - self._q.put(("status", None)) - - def _work(self) -> None: - while True: - kind, payload = self._q.get() - try: - if kind == "status": - self._status_pending = False - self._do_status() - else: - self._do_cmd(payload) - except Exception as exc: # a malformed BIAS body, HTTPException, … must not kill the worker - self.get_logger().error(f"{kind} failed: {exc!r}") - if kind == "cmd": - self._publish(self.reply_pub, {"id": (payload or {}).get("id"), "command": (payload or {}).get("command"), - "ok": False, "outcome": "error", "error": f"node error: {exc!r}"}) - - def _do_status(self) -> None: - t_ms = wall_ms() - try: - r = self.http.call("get-status") - st = r["value"] if isinstance(r["value"], dict) else {} - self._publish(self.status_pub, {"reachable": True, "t_ms": t_ms, "rtt_ms": r["rtt_ms"], **st}) - except (TimeoutError, OSError) as exc: - self._publish(self.status_pub, {"reachable": False, "t_ms": t_ms, "error": str(exc)}) - - def _finish_recording(self, cid, out: dict) -> None: - """After a successful stopRecording: the final video file (+ size) and every frame's BIAS - timestamp — the summary into the reply's `artifact` (so the run log names them), the - timestamps themselves on /bias/frames (so the bag holds them).""" - rec, self._rec = self._rec, None - if rec is None: - out["warning"] = "stopRecording without a startRecording from this node: video file and frame timestamps not collected" - return - video = resolve_video(rec["requested"], rec["t0"]) - art = {"kind": "video", "path": video or rec["requested"], "requested": rec["requested"], "resolved": video is not None, - "program": "bias", "bytes": os.path.getsize(video) if video and os.path.isfile(video) else None} - try: - sl = read_stamp_log(os.path.dirname(os.path.normpath(video or rec["requested"])), rec["t0"]) - except OSError as exc: - sl, art["stamp_log_error"] = None, str(exc) - if sl is not None: - t = sl["t"] - chunks = max(1, -(-len(t) // STAMP_CHUNK)) - for k in range(chunks): - part = t[k * STAMP_CHUNK:(k + 1) * STAMP_CHUNK] - self._publish(self.frames_pub, {"id": cid, "video": art["path"], "stamp_log": sl["path"], "chunk": k, "chunks": chunks, - "first_index": k * STAMP_CHUNK, "t": part}) - art["stamp_log"] = {"path": sl["path"], "frames": len(t), "first_s": t[0] if t else None, "last_s": t[-1] if t else None, - "sha256": sl["sha256"], "bytes": sl["bytes"], "chunks": chunks, "topic": FRAMES_TOPIC} - out["artifact"] = art - - def _do_cmd(self, req: dict) -> None: - self.commands += 1 - cid = req.get("id") - command = str(req.get("command", "")) - params = req.get("params") or {} - t_ms = wall_ms() - t0 = time.perf_counter() - t_epoch = time.time() # file mtimes are wall clock: the recording's start for resolve_video - out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []} - try: - if command == "connect" and (params.get("ip") or params.get("port")): - # The protocol's connect(ip, port) retargets the node (rig YAML normally sets these). - self.http.host = str(params.get("ip") or self.http.host) - self.http.port = int(params.get("port") or self.http.port) - if command == "startRecording" and params.get("filename") and not os.path.isabs(str(params["filename"])): - if self.video_dir: - params = dict(params) - params["filename"] = os.path.join(self.video_dir, str(params["filename"])) - out["params"] = params - else: - # Seen on the real Mac port (2026-10-14): a relative name resolves against BIAS's - # own cwd (`/` when launched with `open`), start-capture still answers success, - # and nothing captures. Say so in the reply instead of letting the run go dark. - out["warning"] = f"relative filename {params['filename']!r} resolves against BIAS's working directory, not the rig's; use an absolute path or --video-dir" - self.get_logger().warning(out["warning"]) - steps = plan(command, params) - except ValueError as exc: - out.update({"ok": False, "outcome": "error", "error": str(exc)}) - self._publish(self.reply_pub, out) - return - value = None - for http_cmd, val in steps: - try: - r = self.http.call(http_cmd, val) - except TimeoutError as exc: - # UNKNOWN: the command may or may not have taken effect. Reconcile before - # anything else runs, and say so. - out["steps"].append({"command": http_cmd, "ok": None, "error": f"timeout after {self.http.timeout_for(http_cmd)}s"}) - out.update({"ok": False, "outcome": "unknown", "error": str(exc)}) - self._do_status() - break - except OSError as exc: - out["steps"].append({"command": http_cmd, "ok": False, "error": str(exc)}) - out.update({"ok": False, "outcome": "error", "error": f"BIAS unreachable at {self.http.base}: {exc}"}) - break - out["steps"].append(r) - if not r["ok"]: - out.update({"ok": False, "outcome": "error", "error": f"{http_cmd}: {r['message']}"}) - break - value = r["value"] - if command == "startRecording" and http_cmd == "get-video-file" and r["value"]: - self._rec = {"requested": str(r["value"]), "t0": t_epoch} - found = resolve_video(self._rec["requested"], t_epoch) - out["artifact"] = {"kind": "video", "path": found or self._rec["requested"], "requested": self._rec["requested"], - "resolved": found is not None, "program": "bias"} - else: - out.update({"ok": True, "outcome": "ok", "value": value}) - if command == "stopRecording": - self._finish_recording(cid, out) - out["rtt_ms"] = round((time.perf_counter() - t0) * 1000.0, 2) - self._publish(self.reply_pub, out) - # rclpy caches a severity per call site, so info and warning need separate statements. - if out["ok"]: - self.get_logger().info(f"{command} → ok ({out['rtt_ms']} ms)") - else: - self.get_logger().warning(f"{command} → {out['outcome']} ({out['rtt_ms']} ms): {out.get('error')}") - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1", help="BIAS command-port host (default: 127.0.0.1)") - p.add_argument("--port", type=int, default=5010, help="BIAS command port (default: 5010)") - p.add_argument("--timeout-s", type=float, default=2.0, help="per-HTTP-call timeout; a timeout is an UNKNOWN outcome (default: 2)") - p.add_argument("--slow-timeout-s", type=float, default=15.0, - help=f"timeout for the camera/writer commands ({', '.join(sorted(SLOW_HTTP))}); default: 15") - # 5 Hz: the (frameCount, BIAS timeStamp) samples, stamped with this node's precise wall clock, - # map BIAS's clock onto the run's (with the /bias/frames timestamps: every frame on the run - # timeline) and show drops live; ~10 ms of BIAS's GUI thread per poll. - p.add_argument("--status-every", type=float, default=0.2, help="get-status poll period in s; 0 = off (default: 0.2 = 5 Hz)") - p.add_argument("--video-dir", default=None, help="directory a RELATIVE startRecording filename is resolved against (default: pass through + warn)") - args, ros_args = p.parse_known_args(argv) - raise_timer_resolution() # Windows: 1 ms system timer for this process (_common "clocks") - rclpy.init(args=ros_args) - node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s, args.slow_timeout_s), args.status_every, video_dir=args.video_dir) - spin(node) - print(f"[bias-node] {node.commands} commands handled", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/bias_sim.py b/rig/nodes/bias_sim.py deleted file mode 100644 index f9620f19..00000000 --- a/rig/nodes/bias_sim.py +++ /dev/null @@ -1,238 +0,0 @@ -#!/usr/bin/env python3 -"""bias_sim.py — a stand-in for the BIAS camera program's external-control HTTP interface. - -BIAS (IO Rodeo) is controlled over HTTP GET on its command port (5010 by default in our -rig YAMLs): `http://host:port/?[=][&…]`, answering a JSON ARRAY -with one object per command: `{"success": bool, "message": str, "value": …, "command": str}`. -This is the interface `BiasPlugin.m` (maDisplayTools) and BIAS's own `bias.py` client use. -The sim implements the subset bias_node.py needs, with a real state machine so sequencing -mistakes show up (start-capture before connect fails, as on the real program): - - connect / disconnect connected flag - start-capture / stop-capture capturing flag; frameCount grows at --fps - enable-logging / disable-logging logging flag (video written while capturing) - set-video-file= / get-video-file the artifact: on stop-capture with logging on, - a small file is written at that path (relative - paths land in --video-dir) and reported as value - get-status {"connected","capturing","logging","frameCount", - "framesPerSec","timeStamp","videoFile", - "sim": true} (so a run log says who answered) - get-time-stamp / get-frame-count scalars - load-configuration= accepted, echoed - -VERIFY AGAINST THE REAL PROGRAM: the command names and the array response shape are from -BIAS's documented external interface; the exact `value` payloads of the Mac port must be -confirmed on Michael's Mac (bias_node.py treats them as opaque and logs them verbatim). - - pixi run bias-sim -- --port 5010 --video-dir /tmp/bias-videos - curl 'http://127.0.0.1:5010/?connect' -""" - -from __future__ import annotations - -import argparse -import json -import os -import socket -import sys -import threading -import time -from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer -from urllib.parse import unquote, urlparse - -DEFAULT_PORT = 5010 - - -class BiasState: - def __init__(self, fps: float, video_dir: str, latency_s: float) -> None: - self.fps = fps - self.video_dir = video_dir - self.latency_s = latency_s - self.lock = threading.Lock() - self.connected = False - self.capturing = False - self.logging = False - self.video_file = "" - self.capture_t0: float | None = None - self.frames_before = 0 # frames from earlier capture segments - self.t0 = time.time() - self.written: list[str] = [] - - def frame_count(self) -> int: - n = self.frames_before - if self.capturing and self.capture_t0 is not None: - n += int((time.time() - self.capture_t0) * self.fps) - return n - - def status(self) -> dict: - return { - "connected": self.connected, - "capturing": self.capturing, - "logging": self.logging, - "frameCount": self.frame_count(), - "framesPerSec": self.fps if self.capturing else 0.0, - "timeStamp": round(time.time() - self.t0, 6), - "videoFile": self.video_file, - "sim": True, - } - - def _video_path(self) -> str: - p = self.video_file - if p and not os.path.isabs(p): - p = os.path.join(self.video_dir, p) - return p - - def handle(self, cmd: str, value: str | None) -> dict: - """One command → one response object. Mirrors BIAS's success/message/value shape.""" - ok, msg, val = True, "", "" - if cmd == "connect": - self.connected = True - msg = "connected" - elif cmd == "disconnect": - if self.capturing: - ok, msg = False, "camera is capturing" - else: - self.connected = False - msg = "disconnected" - elif cmd == "start-capture": - if not self.connected: - ok, msg = False, "camera not connected" - elif self.capturing: - ok, msg = False, "already capturing" - else: - self.capturing = True - self.capture_t0 = time.time() - msg = "capture started" - elif cmd == "stop-capture": - if not self.capturing: - ok, msg = False, "not capturing" - else: - self.frames_before = self.frame_count() - self.capturing = False - self.capture_t0 = None - msg = "capture stopped" - if self.logging and self.video_file: - path = self._video_path() - os.makedirs(os.path.dirname(path) or ".", exist_ok=True) - with open(path, "wb") as fh: - fh.write(json.dumps({"bias_sim": True, "frames": self.frames_before, "fps": self.fps}).encode()) - self.written.append(path) - # Like BIAS: one camera timestamp per frame (s from capture start), next to the - # video, ONE file per camera that the next recording overwrites. - with open(os.path.join(os.path.dirname(path) or ".", "stamp_log_cam0.txt"), "w", encoding="ascii", newline="\n") as fh: - fh.write("".join(f"{i / self.fps:.6f}\n" for i in range(self.frames_before))) - val = path - msg = f"capture stopped, video written {path}" - elif cmd == "enable-logging": - self.logging = True - msg = "logging enabled" - elif cmd == "disable-logging": - self.logging = False - msg = "logging disabled" - elif cmd == "set-video-file": - if value is None: - ok, msg = False, "set-video-file needs a value" - else: - self.video_file = value - val = self._video_path() - msg = "video file set" - elif cmd == "get-video-file": - val = self._video_path() - elif cmd == "get-status": - val = self.status() - elif cmd == "get-time-stamp": - val = round(time.time() - self.t0, 6) - elif cmd == "get-frame-count": - val = self.frame_count() - elif cmd == "load-configuration": - if value is None: - ok, msg = False, "load-configuration needs a file" - else: - msg = f"configuration loaded from {value}" - val = value - elif cmd == "get-configuration": - val = {"sim": True, "fps": self.fps} - else: - ok, msg = False, f"unknown command {cmd!r}" - return {"success": ok, "message": msg, "value": val, "command": cmd} - - -def make_handler(state: BiasState): - class Handler(BaseHTTPRequestHandler): - server_version = "bias_sim/0.1" - - def log_message(self, fmt, *args): # quiet; the node logs replies - pass - - def do_GET(self): - q = urlparse(self.path).query - replies = [] - with state.lock: - for part in q.split("&"): - if not part: - continue - cmd, _, value = part.partition("=") - replies.append(state.handle(unquote(cmd), unquote(value) if _ else None)) - if state.latency_s > 0: - time.sleep(state.latency_s) - body = json.dumps(replies).encode("utf-8") - self.send_response(200) - self.send_header("Content-Type", "application/json") - self.send_header("Content-Length", str(len(body))) - self.end_headers() - self.wfile.write(body) - - return Handler - - -class _Server(ThreadingHTTPServer): - # Windows: socketserver's SO_REUSEADDR would let a second sim bind OVER this one; bind - # exclusively there instead (the two options cannot be combined). - allow_reuse_address = os.name != "nt" - - def server_bind(self) -> None: - if os.name == "nt" and hasattr(socket, "SO_EXCLUSIVEADDRUSE"): - self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_EXCLUSIVEADDRUSE, 1) - super().server_bind() - - -def answering(host: str, port: int) -> bool: - try: - with socket.create_connection((host, port), timeout=0.5): - return True - except OSError: - return False - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1") - p.add_argument("--port", type=int, default=DEFAULT_PORT) - p.add_argument("--fps", type=float, default=100.0, help="simulated capture rate (default: 100)") - p.add_argument("--video-dir", default="bias-videos", help="where relative video paths land (default: ./bias-videos)") - p.add_argument("--latency-ms", type=float, default=0.0, help="artificial reply delay, for timeout tests") - args = p.parse_args(argv) - # Refuse to start next to a live program on the port. On Windows the real BIAS's listener - # (Qt, 0.0.0.0) shares its address, so our bind would SUCCEED and every 127.0.0.1 client — - # the rig's bias node included — would then talk to this sim (ww18 2026-10-15). Only a - # connect sees that listener. - if answering(args.host, args.port): - print(f"[bias-sim] cannot start: something already answers on {args.host}:{args.port} — probably the real BIAS " - f"(or another bias-sim); binding here would hide it from every local client. Close it, or pass --port.", - file=sys.stderr) - return 2 - state = BiasState(args.fps, args.video_dir, args.latency_ms / 1000.0) - srv = _Server((args.host, args.port), make_handler(state)) - print(f"[bias-sim] http://{args.host}:{args.port}/? (fps {args.fps:g}, videos → {args.video_dir})", file=sys.stderr) - try: - srv.serve_forever() - except KeyboardInterrupt: - pass - finally: - srv.server_close() - print(f"[bias-sim] videos written: {state.written}", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/bridge_node.py b/rig/nodes/bridge_node.py index 90143653..3628eada 100644 --- a/rig/nodes/bridge_node.py +++ b/rig/nodes/bridge_node.py @@ -37,7 +37,7 @@ PLAN B SPIKE (LAB-303, 2026-10-14) — MCAP as the record of truth: * While a run's log is open, EVERYTHING is recorded into `/.bag/` with - rosbag2_py + the MCAP storage plugin (nodes/recorder.py): the device topics as received + rosbag2_py + the MCAP storage plugin (rig_nodes.recorder, reiserlab/rig-nodes): the device topics as received (`/fictrac/raw` or the typed `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd|reply|status`), `/arena/frame` (the closed-loop evaluation with ITS OWN sample time `t`/`ms`), and two bridge-side streams — `/arena/browser` (every browser message, verbatim, with the receive @@ -49,7 +49,7 @@ at every export and printed) and the crash-loss baseline. `--export live` returns it instead. A bag the writer never closed (this node was killed mid-run; no metadata.yaml / torn tail) is RECOVERED on export — salvaged, indexed, metadata.yaml written by rosbag2's Reindexer, - `{"event":"recovered"}` appended to its /arena/session (nodes/mcap_index.recover_bag) — + `{"event":"recovered"}` appended to its /arena/session (rig_nodes.mcap_index.recover_bag) — and the reply carries `recovered: true`; a freshly started node adopts the newest such bag in --log-dir for its first export, so the Studio's export after a bridge restart gets the salvaged run. A bag with nothing salvageable falls back to the run's shadow NDJSON. @@ -71,6 +71,7 @@ import json import math import os +import re import signal import sys import threading @@ -88,10 +89,10 @@ REPO = HERE.parents[1] BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py" sys.path.insert(0, str(HERE)) -from _common import mono_ns, probe_interfaces, raise_timer_resolution, wall_ms, wall_ns # noqa: E402 +from rig_nodes._common import mono_ns, probe_interfaces, raise_timer_resolution, wall_ms, wall_ns # noqa: E402 (reiserlab/rig-nodes, installed package) +from rig_nodes.mcap_index import needs_recovery, recover_bag # noqa: E402 +from rig_nodes.recorder import PROFILES, STRING_TYPE, Recorder # noqa: E402 from mcap_convert import convert_bag # noqa: E402 -from mcap_index import needs_recovery, recover_bag # noqa: E402 -from recorder import PROFILES, STRING_TYPE, Recorder # noqa: E402 from _rows import FLAG_BAD_FRAME, KF_TAG, fictrac_extras, is_bad_frame_tag, kf_row, parse_fictrac_line # noqa: E402 (one encoder for the node and the converter) # Typed messages only when the package imports AND serializes (pixi's `typed` env, or a @@ -119,6 +120,31 @@ def load_bridge_module(path: Path = BRIDGE_PY): B.now_ms = wall_ms NODE_VERSION = f"{B.BRIDGE_VERSION} · rig plan-b (rmw_zenoh, mcap record, connectors, merged frame record)" + + +def package_versions() -> dict: + """The rig-nodes package set this gateway runs on (rig-software-repos-and-runners.md §7.7: every + package version into the run's record). `rig_nodes` from the Python package; `rig_interfaces` + from its ament index entry (a conda package without a Python distribution); None when absent.""" + out: dict = {} + try: + import rig_nodes + + out["rig_nodes"] = getattr(rig_nodes, "__version__", None) + except Exception: + out["rig_nodes"] = None + try: + from ament_index_python.packages import get_package_share_directory + + xml = Path(get_package_share_directory("rig_interfaces")) / "package.xml" + m = re.search(r"([^<]+)", xml.read_text(encoding="utf-8")) + out["rig_interfaces"] = m.group(1) if m else None + except Exception: + out["rig_interfaces"] = None + return out + + +PACKAGES = package_versions() FICTRAC_TOPIC = "/fictrac/raw" FICTRAC_FRAME_TOPIC = "/fictrac/frame" # typed rig_interfaces/FicTracFrame BROWSER_TOPIC = "/arena/browser" @@ -328,7 +354,7 @@ def _open(self, name: str, event: str) -> None: else: self._record(SESSION_TOPIC, {"seq": self.next_seq(), "event": event, "file": name, "ms": self._t0, "level": self.level, "bag": bag, "connectors": sorted(self._connectors), "node": NODE_VERSION, "typed": self._typed, - "profile": self._profile}) + "profile": self._profile, "packages": PACKAGES}) print(f"[record] {bag} ({self._profile}, typed={self._typed}; opened in {1000 * (time.perf_counter() - t_open):.0f} ms)", file=sys.stderr) if self.on_open is not None: self.on_open() @@ -824,7 +850,7 @@ async def dispatch(raw, websocket=None) -> None: log.write_inbound(text) await ws_reply(websocket, {"type": "hello_ack", "bridge": B.BRIDGE_VERSION, "levels": list(B.LOG_LEVELS), "level": log.level, "logging": log.active, "connectors": sorted(CONNECTORS), - "record": "mcap", "typed": typed}) + "record": "mcap", "typed": typed, "packages": PACKAGES}) return if kind == "connector_command": await on_connector_command(obj, websocket, text) diff --git a/rig/nodes/build_interfaces.py b/rig/nodes/build_interfaces.py deleted file mode 100644 index 62c70145..00000000 --- a/rig/nodes/build_interfaces.py +++ /dev/null @@ -1,130 +0,0 @@ -#!/usr/bin/env python3 -"""build_interfaces.py — build interfaces/rig_interfaces inside this pixi env, and time it. - - pixi run build-interfaces # colcon build → interfaces/install, result JSON printed + saved - pixi run build-interfaces -- --clean # wipe build/ + install/ first (a cold build; the number to report) - pixi run build-interfaces -- --check # just report: built? importable? which typesupports? - -LAB-303 Plan B, item 3: typed messages mean an ament_cmake interfaces package, and rosidl -generates C typesupport + a Python C extension — so a C/C++ compiler is needed on every machine -that builds it (RoboStack's `cxx-compiler`: clang on macOS, GCC on Linux, MSVC 2022 on Windows, -which pixi cannot install). This script is the measurement: wall time, steps, failures, verbatim. -The result goes to interfaces/build-result.json and the README's "Plan B spike" table. - -Nodes pick the built package up through `_common.setup_interfaces()` (prepends the install -prefix to AMENT_PREFIX_PATH / PYTHONPATH / the dynamic-library path in-process), so no shell -has to source `install/setup.*` — the same command works on Windows. -""" - -from __future__ import annotations - -import argparse -import json -import os -import platform -import shutil -import subprocess -import sys -import time -from pathlib import Path - -HERE = Path(__file__).resolve().parent -POC = HERE.parent -IFACES = POC / "interfaces" -PKG = IFACES / "rig_interfaces" -BUILD = IFACES / "build" -INSTALL = IFACES / "install" -RESULT = IFACES / "build-result.json" - -sys.path.insert(0, str(HERE)) -from _common import probe_interfaces, setup_interfaces # noqa: E402 - - -def check() -> dict: - out = {"install_prefix": str(INSTALL), "built": INSTALL.exists(), "usable": probe_interfaces() is not None} - setup_interfaces() - try: - from rig_interfaces.msg import ArenaFrame, ConnectorReply, FicTracFrame # noqa: F401 - - out["importable"] = True - out["msgs"] = ["FicTracFrame", "ArenaFrame", "ConnectorReply"] - # Can rclpy serialize it (loads the C typesupport)? - from rclpy.serialization import serialize_message - - f = FicTracFrame(seq=1, raw="FT,1,2", tag="FT", fields=[1.0, 2.0]) - out["serializes"] = len(serialize_message(f)) > 4 - except Exception as exc: # ImportError, OSError (dlopen), … - out["importable"] = False - out["error"] = f"{type(exc).__name__}: {exc}" - return out - - -def build(clean: bool) -> dict: - res: dict = {"platform": f"{platform.system()} {platform.machine()}", "python": sys.version.split()[0], - "steps": [], "ok": False} - if clean: - for d in (BUILD, INSTALL): - shutil.rmtree(d, ignore_errors=True) - res["clean"] = True - for tool in ("colcon", "cmake", "ninja"): - res.setdefault("tools", {})[tool] = shutil.which(tool) - cxx = shutil.which("clang++") or shutil.which("c++") or shutil.which("cl") - res["tools"]["cxx"] = cxx - cmd = [ - "colcon", "build", - "--base-paths", str(IFACES), - "--build-base", str(BUILD), - "--install-base", str(INSTALL), - "--merge-install", - "--event-handlers", "console_direct+", - "--cmake-args", "-GNinja", "-DCMAKE_BUILD_TYPE=Release", - f"-DPython3_EXECUTABLE={sys.executable}", f"-DPython_EXECUTABLE={sys.executable}", - # RoboStack's toolchain sets the install rpath to the ENV's lib only; the generated - # Python extension then cannot find librig_interfaces__*.dylib next to itself, and - # macOS SIP strips DYLD_LIBRARY_PATH on the way through pixi's shell (first build on - # the Mac: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c'`). Add - # the package's own lib dir to the rpath. - f"-DCMAKE_INSTALL_RPATH={INSTALL / 'lib'};{Path(sys.executable).resolve().parents[1] / 'lib'}", - "-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON", - ] - res["command"] = " ".join(cmd) - t0 = time.monotonic() - env = os.environ.copy() - env.setdefault("PYTHONUTF8", "1") - p = subprocess.run(cmd, cwd=str(IFACES), capture_output=True, text=True, env=env) - res["wall_s"] = round(time.monotonic() - t0, 1) - res["returncode"] = p.returncode - tail = (p.stdout + p.stderr).strip().splitlines() - res["log_tail"] = tail[-25:] - (IFACES / "build.log").write_text(p.stdout + "\n--- stderr ---\n" + p.stderr, encoding="utf-8") - res["steps"].append({"step": "colcon build", "s": res["wall_s"], "rc": p.returncode}) - if p.returncode == 0: - t1 = time.monotonic() - chk = check() - res["check"] = chk - res["steps"].append({"step": "import + serialize", "s": round(time.monotonic() - t1, 2), "ok": chk.get("serializes", False)}) - res["ok"] = bool(chk.get("serializes")) - libs = sorted(p.name for p in (INSTALL / "lib").glob("librig_interfaces__*")) if (INSTALL / "lib").exists() else [] - res["typesupport_libs"] = libs - return res - - -def main(argv=None) -> int: - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - ap.add_argument("--clean", action="store_true", help="remove interfaces/build + install first") - ap.add_argument("--check", action="store_true", help="only report whether the package imports") - a = ap.parse_args(argv) - if a.check: - r = check() - print(json.dumps(r, indent=1)) - return 0 if r.get("usable") else 1 - r = build(a.clean) - RESULT.write_text(json.dumps(r, indent=1) + "\n", encoding="utf-8") - print(json.dumps({k: v for k, v in r.items() if k != "log_tail"}, indent=1)) - if not r["ok"]: - print("\n".join(r["log_tail"]), file=sys.stderr) - return 0 if r["ok"] else 1 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/fictrac_udp_adapter.py b/rig/nodes/fictrac_udp_adapter.py deleted file mode 100644 index 8d6ed945..00000000 --- a/rig/nodes/fictrac_udp_adapter.py +++ /dev/null @@ -1,148 +0,0 @@ -#!/usr/bin/env python3 -"""fictrac_udp_adapter.py — FicTrac UDP → ROS 2 topic, one std_msgs/String per record. - -FicTrac itself is untouched: it keeps sending its 25-field CSV line per camera frame to -a UDP port (the same `sock_host`/`sock_port` it has today, 127.0.0.1:60000). This node -owns that socket and republishes every datagram line as JSON on `/fictrac/raw`: - - {"src": "fictrac", "seq": , - "rx_epoch_ms": , "rx_mono_ns": , - "raw": ""} - -The line is NOT parsed here. The bridge node parses it with bridge.py's Pipeline, so the -closed-loop mapping, the heading tare and the logged row are byte-for-byte what bridge -3.4 produces — the adapter only moves bytes and stamps when it saw them. No custom -message types (LAB-303 PoC rule): std_msgs/String carrying JSON. - -QoS: RELIABLE, KEEP_LAST 200. The run log must hold EVERY FicTrac frame (bridge.py -write_frame), so the topic is reliable; the bridge node's Hub coalesces for the browser -separately, as before. ~50-100 Hz × ~250 B is nothing for Zenoh on loopback. - - pixi run fictrac-adapter -- --port 60000 - pixi run sim -- --proto udp --rate 50 # the unmodified simulator feeds it - -PLAN B (LAB-303, typed topic): with `--typed` (default `auto` = when rig_interfaces imports) -the adapter ALSO publishes `/fictrac/frame` as rig_interfaces/FicTracFrame — the parsed -columns, the FT tag, the receive stamps AND the verbatim line — so the closed-loop node can -subscribe to a typed topic while the mapping math still parses exactly the bytes FicTrac sent. -`/fictrac/raw` keeps being published (`--typed only` drops it) so `ros2 topic echo` and older -consumers see no change. -""" - -from __future__ import annotations - -import argparse -import json -import socket -import sys -import threading -import time - -import rclpy -from rclpy.node import Node -from std_msgs.msg import String - -from _common import RELIABLE_QOS, mono_ns, probe_interfaces, raise_timer_resolution, spin, wall_ms, wrap_line -from _rows import parse_fictrac_line # ONE parser for the adapter, the bridge node and the converter - -_IFACES = probe_interfaces() # import + serialize; None → String only -HAVE_IFACES = _IFACES is not None -FicTracFrame = _IFACES[1] if _IFACES else None # type: ignore[assignment] - -TOPIC = "/fictrac/raw" -TYPED_TOPIC = "/fictrac/frame" -RAW_QOS = RELIABLE_QOS - - -class FicTracUdpAdapter(Node): - def __init__(self, host: str, port: int, status_every_s: float, typed: str = "auto") -> None: - super().__init__("fictrac_udp_adapter") - want_typed = HAVE_IFACES if typed == "auto" else typed in ("on", "only") - if typed in ("on", "only") and not HAVE_IFACES: - raise SystemExit("--typed on/only, but rig_interfaces is not importable (pixi install builds it)") - self.typed_pub = self.create_publisher(FicTracFrame, TYPED_TOPIC, RAW_QOS) if want_typed else None - self.pub = None if typed == "only" else self.create_publisher(String, TOPIC, RAW_QOS) - self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - self.sock.bind((host, port)) - self.sock.settimeout(0.5) # lets the thread notice shutdown - self.seq = 0 - self.lines = 0 - self.datagrams = 0 - self._stop = threading.Event() - self._buf = b"" - self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True) - self._thread.start() - self.get_logger().info(f"UDP {host}:{port} → {TOPIC if self.pub else '-'}" + (f" + {TYPED_TOPIC} (rig_interfaces/FicTracFrame)" if self.typed_pub else " (std_msgs/String JSON, reliable)")) - if status_every_s > 0: - self._last = (0, time.monotonic()) - self.create_timer(status_every_s, self._status) - - def _publish(self, raw: str) -> None: - self.seq += 1 - rx_ms, rx_ns = wall_ms(), mono_ns() # precise on Windows too (_common "clocks") - if self.pub is not None: - msg = String() - msg.data = wrap_line("fictrac", self.seq, raw, rx_ms, rx_ns) - self.pub.publish(msg) - if self.typed_pub is not None: - tag, fields = parse_fictrac_line(raw) - self.typed_pub.publish(FicTracFrame(seq=self.seq, rx_epoch_ms=rx_ms, rx_mono_ns=rx_ns, tag=tag, fields=fields, raw=raw)) - self.lines += 1 - - def _recv_loop(self) -> None: - # One record per datagram is FicTrac's behaviour; buffer + split on newlines anyway - # (same tolerance as bridge.py's _UdpProtocol) so a coalesced or split datagram - # never produces a half line. - while not self._stop.is_set(): - try: - data, _ = self.sock.recvfrom(65535) - except socket.timeout: - continue - except OSError: - break - self.datagrams += 1 - self._buf += data - while b"\n" in self._buf: - line, self._buf = self._buf.split(b"\n", 1) - if line.strip(): - self._publish(line.decode("ascii", errors="replace")) - if self._buf and b"\n" not in data: - self._publish(self._buf.decode("ascii", errors="replace")) - self._buf = b"" - - def _status(self) -> None: - n0, t0 = self._last - now = time.monotonic() - rate = (self.lines - n0) / max(1e-9, now - t0) - self._last = (self.lines, now) - self.get_logger().info(f"{self.lines} lines published ({rate:.1f}/s), {self.datagrams} datagrams") - - def destroy_node(self) -> bool: - self._stop.set() - try: - self.sock.close() - except OSError: - pass - return super().destroy_node() - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1", help="UDP bind host (default: 127.0.0.1)") - p.add_argument("--port", type=int, default=60000, help="UDP bind port — FicTrac's sock_port (default: 60000)") - p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)") - p.add_argument("--typed", choices=("auto", "on", "off", "only"), default="auto", - help="also publish /fictrac/frame as rig_interfaces/FicTracFrame (auto: when the package imports; only: drop /fictrac/raw)") - # ros2 run / launch pass --ros-args; keep them for rclpy. - args, ros_args = p.parse_known_args(argv) - raise_timer_resolution() # Windows: 1 ms system timer for this process (_common "clocks") - rclpy.init(args=ros_args) - node = FicTracUdpAdapter(args.host, args.port, args.status_every, args.typed) - spin(node) - print(f"[fictrac-adapter] {node.lines} lines, {node.datagrams} datagrams", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/foxglove_json.py b/rig/nodes/foxglove_json.py index fc0c5494..aec7745f 100644 --- a/rig/nodes/foxglove_json.py +++ b/rig/nodes/foxglove_json.py @@ -1,57 +1,35 @@ #!/usr/bin/env python3 -"""foxglove_json.py — a String-topic arena bag → a Foxglove-plottable MCAP (JSON messages + JSON Schema). +"""foxglove_json.py — an ARENA String-topic bag → a Foxglove-plottable MCAP, with the arena derivations. - python foxglove_json.py [--ball-mm 9] + pixi run fox-json -- [--ball-mm 9] -The default (String) environment records every topic as std_msgs/String holding JSON text, so -Foxglove shows each message as one string and cannot plot a field. This rewrites the same -messages, same topics, same log/publish times, as MCAP `json` messages with a `jsonschema` -schema per topic, so `/arena/frame.idx`, `/bias/status.framesPerSec`, … plot directly and -`docs/foxglove-arena-layout.json` works unchanged. Per topic: +The generic rewriter (same messages, same topics, same times, as MCAP `json` messages with a +`jsonschema` per topic) is `rig_nodes.foxglove_json` (reiserlab/rig-nodes). This wrapper adds what +only the arena knows, through its `enrich` hook, so `docs/foxglove-arena-layout.json` works +unchanged: -- every topic: the JSON object as recorded (a non-object payload becomes {"value": …}); - /arena/frame: plus `bias_deg` (= `bias`, 0 when absent) and `turning_dps` / `forward_mms`, derived exactly as bridge_node.FrameDeriver does for the typed ArenaFrame (two-point differences on the FicTrac camera clock `ft`, else the bridge clock `t`; null where the typed message has NaN). These three are the only fields the original does not carry; -- /fictrac/raw: `cols`, FicTrac's 25 output columns by name, parsed from `raw`; -- /arena/browser: `msg`, the browser message parsed from `raw` (when it is JSON). +- /fictrac/raw: `cols`, FicTrac's 25 output columns by name (rig_nodes.fictrac.FICTRAC_COLS), + parsed from `raw`; +- /arena/browser: `msg`, the browser message parsed from `raw` (the generic envelope rule). Slim by default: where `raw` was parsed into `cols` / `msg`, the `raw` text is dropped (it is the same data twice); `--keep-raw` keeps it. The original bag stays the record of truth. - -The source is read record by record, so a crash-torn bag (no metadata.yaml, no index) converts -too; the output is chunked, zstd-compressed and indexed. A metadata record `foxglove_json` -names the source file and its sha256. """ from __future__ import annotations import argparse -import hashlib import json import math -import struct import sys from pathlib import Path -FICTRAC_COLS = [ - "frame", # 1 frame counter - "dr_cam_x", "dr_cam_y", "dr_cam_z", # 2-4 delta rotation vector, camera frame (rad) - "dr_err", # 5 delta rotation error score - "dr_lab_x", "dr_lab_y", "dr_lab_z", # 6-8 delta rotation vector, lab frame (rad) - "r_cam_x", "r_cam_y", "r_cam_z", # 9-11 absolute rotation vector, camera frame - "r_lab_x", "r_lab_y", "r_lab_z", # 12-14 absolute rotation vector, lab frame - "x", "y", # 15-16 integrated x/y position, lab (rad) - "heading", # 17 integrated animal heading, lab (rad) - "direction", # 18 animal movement direction, lab (rad) - "speed", # 19 animal movement speed (rad/frame) - "forward", "side", # 20-21 integrated forward / side motion (rad) - "timestamp", # 22 frame timestamp (ms) - "seq", # 23 sequence counter - "dt", # 24 delta timestamp (ms) - "alt_timestamp", # 25 alternative timestamp (ms) -] +from rig_nodes.fictrac import FICTRAC_COLS, parse_fictrac_line +from rig_nodes.foxglove_json import convert as generic_convert def wrap_to_pi(r: float) -> float: @@ -84,172 +62,28 @@ def step(self, msg: dict): return math.degrees(d_hd) / dt_s, (dx * math.cos(h_mid) + dy * math.sin(h_mid)) / dt_s * self.radius_mm -def cdr_string(data: bytes) -> str: - """std_msgs/String in CDR: 4-byte encapsulation header, uint32 length (incl. NUL), bytes.""" - little = data[1] == 1 - (n,) = struct.unpack_from("I", data, 4) - return data[8:8 + n].rstrip(b"\x00").decode("utf-8") - - -def finite(v): - """JSON has no NaN/Infinity — Foxglove's parser would reject the message.""" - if isinstance(v, float) and not math.isfinite(v): - return None - if isinstance(v, dict): - return {k: finite(x) for k, x in v.items()} - if isinstance(v, list): - return [finite(x) for x in v] - return v - - -def json_type(v) -> str: - if v is None: - return "null" - if isinstance(v, bool): - return "boolean" - if isinstance(v, (int, float)): - return "number" - if isinstance(v, str): - return "string" - if isinstance(v, list): - return "array" - return "object" - - -def merge_schema(s: dict, v, depth: int = 0) -> dict: - t = json_type(v) - types = set(s.get("type", []) if isinstance(s.get("type"), list) else ([s["type"]] if "type" in s else [])) - types.add(t) - s["type"] = sorted(types) - if depth < 6 and t == "object": - props = s.setdefault("properties", {}) - for k, x in v.items(): - props[k] = merge_schema(props.get(k, {}), x, depth + 1) - elif depth < 6 and t == "array": - items = s.get("items", {}) - for x in v[:64]: - items = merge_schema(items, x, depth + 1) - if items: - s["items"] = items - return s - - -TYPE_PRIORITY = ("object", "array", "string", "number", "boolean") - - -def finish_schema(s: dict) -> dict | None: - """One `type` per node. Foxglove rejects type unions ("Unsupported type ["boolean","number"]", - seen on /arena/browser msg.value and /bias/reply steps.value), so a field seen with several - types gets the widest one (object > array > string > number > boolean; null dropped). A field - that was only ever null is left out of the schema (nothing to plot; raw views still show it).""" - t = s.get("type") - types = [x for x in (t if isinstance(t, list) else [t]) if x and x != "null"] - if not types: - return None - s["type"] = next(p for p in TYPE_PRIORITY if p in types) - if s["type"] != "object": - s.pop("properties", None) - if s["type"] != "array": - s.pop("items", None) - for k in list(s.get("properties", {})): - if finish_schema(s["properties"][k]) is None: - del s["properties"][k] - if "items" in s and finish_schema(s["items"]) is None: - del s["items"] - if s["type"] == "array" and "items" not in s: - # an array that was always empty (e.g. /arena/browser msg.flagged_trials): Foxglove needs - # an item type ("Cannot read properties of undefined (reading 'type')" without one) - s["items"] = {"type": "string"} - return s - - -def read_messages(path: Path): - """(topic, schema_name, log_time, publish_time, sequence, data) for every message, torn tail tolerated.""" - from mcap.records import Channel, Message, Schema - from mcap.stream_reader import StreamReader - - schemas, channels, out, torn = {}, {}, [], None - with open(path, "rb") as f: - try: - for rec in StreamReader(f, skip_magic=False, emit_chunks=False, validate_crcs=False).records: - if isinstance(rec, Schema): - schemas[rec.id] = rec - elif isinstance(rec, Channel): - channels[rec.id] = rec - elif isinstance(rec, Message): - ch = channels[rec.channel_id] - sc = schemas.get(ch.schema_id) - out.append((ch.topic, sc.name if sc else None, rec.log_time, rec.publish_time, rec.sequence, rec.data)) - except Exception as e: # a SIGKILLed recorder leaves a partial record and no footer - torn = f"{type(e).__name__}: {e}" - return out, torn - - -def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False) -> dict: - from mcap.writer import CompressionType, Writer - - if src.is_dir(): - src = next(p for p in sorted(src.glob("*.mcap"))) - msgs, torn = read_messages(src) +def arena_enricher(ball_mm: float, keep_raw: bool = False): + """The `enrich(topic, obj)` hook for rig_nodes.foxglove_json.convert: arena derivations only.""" deriver = FrameDeriver(ball_mm) - rows, schemas, skipped = [], {}, 0 - for topic, sname, log_t, pub_t, seq, data in msgs: - if sname != "std_msgs/msg/String": - skipped += 1 - continue - try: - obj = json.loads(cdr_string(data)) - except (ValueError, UnicodeDecodeError, struct.error): - skipped += 1 - continue - if not isinstance(obj, dict): - obj = {"value": obj} + + def enrich(topic: str, obj: dict) -> dict: if topic == "/arena/frame" and obj.get("type", "frame") == "frame": obj["bias_deg"] = float(obj.get("bias", 0.0) or 0.0) obj["turning_dps"], obj["forward_mms"] = deriver.step(obj) elif topic == "/fictrac/raw" and isinstance(obj.get("raw"), str): - parts = [p.strip() for p in obj["raw"].split(",")] - if parts and parts[0] == "FT": - parts = parts[1:] - try: - obj["cols"] = {k: float(v) for k, v in zip(FICTRAC_COLS, parts)} - if not keep_raw: - del obj["raw"] - except ValueError: - pass - elif topic == "/arena/browser" and isinstance(obj.get("raw"), str): - try: - obj["msg"] = json.loads(obj["raw"]) + _tag, fields = parse_fictrac_line(obj["raw"]) + if fields: + obj["cols"] = {k: v for k, v in zip(FICTRAC_COLS, fields)} if not keep_raw: del obj["raw"] - except ValueError: - pass - obj = finite(obj) - schemas[topic] = merge_schema(schemas.get(topic, {}), obj) - rows.append((topic, log_t, pub_t, seq, json.dumps(obj, separators=(",", ":")).encode())) + return obj - sha = hashlib.sha256(src.read_bytes()).hexdigest() - dst.parent.mkdir(parents=True, exist_ok=True) - with open(dst, "wb") as f: - w = Writer(f, compression=CompressionType.ZSTD) - w.start(profile="", library="rig foxglove_json.py") - chan = {} - for topic in sorted(schemas): - sc = finish_schema(schemas[topic]) or {"type": "object"} - sc = {"$schema": "https://json-schema.org/draft/2020-12/schema", "title": topic, **sc} - sid = w.register_schema(name=topic.strip("/").replace("/", "_"), encoding="jsonschema", - data=json.dumps(sc).encode()) - chan[topic] = w.register_channel(topic=topic, message_encoding="json", schema_id=sid) - for topic, log_t, pub_t, seq, data in sorted(rows, key=lambda r: r[1]): - w.add_message(channel_id=chan[topic], log_time=log_t, publish_time=pub_t, sequence=seq, data=data) - w.add_metadata("foxglove_json", {"source": src.name, "source_sha256": sha, "ball_mm": f"{ball_mm:g}", - "raw_kept": "yes" if keep_raw else "no", "torn_source": torn or "no"}) - w.finish() - counts = {} - for r in rows: - counts[r[0]] = counts.get(r[0], 0) + 1 - return {"source": src.name, "messages": len(rows), "skipped": skipped, "torn": torn, "topics": counts, - "bytes": dst.stat().st_size} + return enrich + + +def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False) -> dict: + return generic_convert(src, dst, enrich=arena_enricher(ball_mm, keep_raw), keep_raw=keep_raw, + library="rig foxglove_json.py", metadata={"ball_mm": f"{ball_mm:g}"}) def main(argv=None) -> int: diff --git a/rig/nodes/graph_dump.py b/rig/nodes/graph_dump.py deleted file mode 100644 index 77b9e3b3..00000000 --- a/rig/nodes/graph_dump.py +++ /dev/null @@ -1,134 +0,0 @@ -#!/usr/bin/env python3 -"""graph_dump.py — what the running graph looks like: nodes, topics, who publishes/subscribes. - - pixi run graph # Mermaid diagram of the LIVE graph on stdout (paste into a .md / GitHub) - pixi run graph -- --dot # Graphviz DOT instead (dot -Tsvg graph.dot > graph.svg) - pixi run graph -- --text # plain table: topic, type, publishers, subscribers, rate (1 s sample) - pixi run graph -- --out docs/graph.md - -The ROS 2 answer to "what/how are we using ROS": the graph is discoverable at run time, so this -asks the middleware (rclpy's node/topic introspection) instead of reading our code. Run it while -`pixi run rig` is up (any environment of this workspace). The interactive equivalents are -`rqt_graph` (live, GUI) and Foxglove Studio (live via foxglove_bridge, or offline on the -MCAP bag) — both in the opt-in `viz` environment (`pixi install -e viz`). -""" - -from __future__ import annotations - -import argparse -import sys -import time - -import rclpy -from rclpy.node import Node - -OWN = {"graph_dump", "_ros2cli"} # introspection nodes to hide - - -def collect(node: Node, sample_s: float) -> dict: - nodes = [(n, ns) for n, ns in node.get_node_names_and_namespaces() if not any(n.startswith(o) for o in OWN)] - topics: dict[str, dict] = {} - for name, typ in node.get_topic_names_and_types(): - if name.startswith("/parameter_events") or name.startswith("/rosout"): - continue - topics[name] = {"types": typ, "pubs": [], "subs": [], "hz": None} - for n, ns in nodes: - full = (ns.rstrip("/") + "/" + n) if ns != "/" else "/" + n - for t, _ in node.get_publisher_names_and_types_by_node(n, ns): - if t in topics: - topics[t]["pubs"].append(full) - for t, _ in node.get_subscriber_names_and_types_by_node(n, ns): - if t in topics: - topics[t]["subs"].append(full) - if sample_s > 0: - from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy - from rosidl_runtime_py.utilities import get_message - - counts = {t: 0 for t in topics} - subs = [] - for t, info in topics.items(): - try: - cls = get_message(info["types"][0]) - except Exception: - continue - qos = QoSProfile(reliability=QoSReliabilityPolicy.BEST_EFFORT, history=QoSHistoryPolicy.KEEP_LAST, depth=10) - subs.append(node.create_subscription(cls, t, (lambda tt: (lambda _m: counts.__setitem__(tt, counts[tt] + 1)))(t), qos)) - end = time.monotonic() + sample_s - while time.monotonic() < end: - rclpy.spin_once(node, timeout_sec=0.05) - for s in subs: - node.destroy_subscription(s) - for t in topics: - topics[t]["hz"] = round(counts[t] / sample_s, 1) - return {"nodes": sorted(("/" + n) if ns == "/" else ns.rstrip("/") + "/" + n for n, ns in nodes), "topics": topics} - - -def _id(s: str) -> str: - return s.strip("/").replace("/", "_").replace("-", "_") - - -def mermaid(g: dict) -> str: - out = ["```mermaid", "flowchart LR"] - for n in g["nodes"]: - out.append(f' {_id(n)}(["{n}"])') - for t, info in sorted(g["topics"].items()): - label = t + ("\\n" + info["types"][0].split("/")[-1] if info["types"] else "") + (f"\\n{info['hz']} Hz" if info["hz"] else "") - out.append(f' {_id(t)}[/"{label}"/]') - for p in info["pubs"]: - out.append(f" {_id(p)} --> {_id(t)}") - for s in info["subs"]: - out.append(f" {_id(t)} --> {_id(s)}") - out.append("```") - return "\n".join(out) - - -def dot(g: dict) -> str: - out = ["digraph arena {", " rankdir=LR; node [fontname=Helvetica];"] - for n in g["nodes"]: - out.append(f' "{n}" [shape=ellipse,style=filled,fillcolor="#e8f5e9"];') - for t, info in sorted(g["topics"].items()): - label = t + ("\\n" + info["types"][0] if info["types"] else "") + (f"\\n{info['hz']} Hz" if info["hz"] else "") - out.append(f' "{t}" [shape=box,label="{label}"];') - for p in info["pubs"]: - out.append(f' "{p}" -> "{t}";') - for s in info["subs"]: - out.append(f' "{t}" -> "{s}";') - out.append("}") - return "\n".join(out) - - -def text(g: dict) -> str: - rows = [("topic", "type", "publishers", "subscribers", "Hz")] - for t, info in sorted(g["topics"].items()): - rows.append((t, info["types"][0] if info["types"] else "?", ", ".join(info["pubs"]) or "—", ", ".join(info["subs"]) or "—", str(info["hz"]) if info["hz"] is not None else "")) - w = [max(len(r[i]) for r in rows) for i in range(5)] - return "nodes: " + ", ".join(g["nodes"]) + "\n" + "\n".join(" ".join(c.ljust(w[i]) for i, c in enumerate(r)) for r in rows) - - -def main(argv=None) -> int: - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - ap.add_argument("--dot", action="store_true") - ap.add_argument("--text", action="store_true") - ap.add_argument("--sample", type=float, default=1.0, help="seconds to sample message rates (0 = skip)") - ap.add_argument("--out", default=None) - ap.add_argument("--wait", type=float, default=2.0, help="seconds to let discovery settle") - a, ros_args = ap.parse_known_args(argv) - rclpy.init(args=ros_args) - node = Node("graph_dump") - end = time.monotonic() + a.wait - while time.monotonic() < end: - rclpy.spin_once(node, timeout_sec=0.1) - g = collect(node, a.sample) - node.destroy_node() - rclpy.try_shutdown() - s = dot(g) if a.dot else text(g) if a.text else mermaid(g) - if a.out: - open(a.out, "w", encoding="utf-8").write(s + "\n") - print(f"[graph] {len(g['nodes'])} nodes, {len(g['topics'])} topics → {a.out}", file=sys.stderr) - else: - print(s) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/kinefly_sim.py b/rig/nodes/kinefly_sim.py deleted file mode 100644 index b7c5e724..00000000 --- a/rig/nodes/kinefly_sim.py +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env python3 -"""kinefly_sim.py — a synthetic KF/1 producer (stands in for Kinefly, like fictrac_sim.py for FicTrac). - -Emits one KF/1 datagram per frame at --rate Hz to --host:--port, byte-compatible with -mbreiser/Kinefly-MacOS `kinefly/core/udp.py` (`protocol: "Kinefly"`, `version: 1`, a fresh -session UUID, `sequence` from 1, `source`, `timestamp_s`, `host_monotonic_s`, five `parts`). -The wings are tracked (`edge` mode, one angle each); head/abdomen/aux are disabled with the -empty-array/null shape the real encoder uses for disabled parts. - -Kinematics: a steering fly. Left and right wing-stroke amplitudes sit at `--mean-deg` and -the DIFFERENCE L−R follows a slow sine of `--diff-deg` peak at `--diff-hz` (plus a little -noise), so a downstream L−R → yaw integrator has something smooth and known to chase. ---seed makes the bytes reproducible. - - pixi run kinefly-sim -- --rate 100 --diff-deg 10 --diff-hz 0.1 --seed 1 -""" - -from __future__ import annotations - -import argparse -import json -import math -import random -import socket -import sys -import time -import uuid - -DEFAULT_PORT = 60001 -PARTS = ("head", "abdomen", "left", "right", "aux") - - -def disabled_part(mode: str | None) -> dict: - return dict(enabled=False, valid=False, mode=mode, angles_rad=[], radii_px=[], gradients=[], - intensity=None, frequency_hz=None, frequency_valid=False) - - -def wing_part(angle_rad: float, gradient: float) -> dict: - return dict(enabled=True, valid=True, mode="edge", angles_rad=[angle_rad], radii_px=[], - gradients=[gradient], intensity=None, frequency_hz=None, frequency_valid=False) - - -def kf1_packet(session: str, seq: int, t_s: float, left_rad: float, right_rad: float, fps: float, grad: float) -> dict: - return dict( - protocol="Kinefly", version=1, session=session, sequence=seq, - source=dict(kind="synthetic", id="kinefly_sim.py", clock="host_monotonic_after_capture", - fps=fps, timestamp_units="s"), - timestamp_s=t_s, host_monotonic_s=time.monotonic(), - parts=dict(head=disabled_part("area"), abdomen=disabled_part("area"), - left=wing_part(left_rad, grad), right=wing_part(right_rad, grad), - aux=disabled_part("intensity")), - ) - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1") - p.add_argument("--port", type=int, default=DEFAULT_PORT) - p.add_argument("--rate", type=float, default=100.0, help="frames per second (default: 100)") - p.add_argument("--count", type=int, default=0, help="emit N frames then exit (0 = forever)") - p.add_argument("--mean-deg", type=float, default=70.0, help="mean wing-stroke angle, both wings (default: 70)") - p.add_argument("--diff-deg", type=float, default=10.0, help="peak L−R difference (default: 10)") - p.add_argument("--diff-hz", type=float, default=0.1, help="frequency of the L−R sine (default: 0.1)") - p.add_argument("--noise-deg", type=float, default=0.5, help="per-frame Gaussian noise per wing (default: 0.5)") - p.add_argument("--seed", type=int, default=None) - args = p.parse_args(argv) - - rng = random.Random(args.seed) - session = str(uuid.UUID(int=rng.getrandbits(128))) if args.seed is not None else str(uuid.uuid4()) - sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - dst = (args.host, args.port) - period = 1.0 / args.rate - t0 = time.perf_counter() - seq = 0 - print(f"[kinefly-sim] KF/1 → udp://{dst[0]}:{dst[1]} at {args.rate:g} Hz, session {session}", file=sys.stderr) - try: - while args.count == 0 or seq < args.count: - seq += 1 - t_s = (seq - 1) * period - half = 0.5 * args.diff_deg * math.sin(2 * math.pi * args.diff_hz * t_s) - left = args.mean_deg + half + rng.gauss(0, args.noise_deg) - right = args.mean_deg - half + rng.gauss(0, args.noise_deg) - pkt = kf1_packet(session, seq, t_s, math.radians(left), math.radians(right), args.rate, 0.8) - sock.sendto(json.dumps(pkt, allow_nan=False, separators=(",", ":")).encode("utf-8"), dst) - target = t0 + seq * period - delay = target - time.perf_counter() - if delay > 0: - time.sleep(delay) - except KeyboardInterrupt: - pass - print(f"[kinefly-sim] sent {seq} frames", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/kinefly_udp_adapter.py b/rig/nodes/kinefly_udp_adapter.py deleted file mode 100644 index 7aab68f9..00000000 --- a/rig/nodes/kinefly_udp_adapter.py +++ /dev/null @@ -1,138 +0,0 @@ -#!/usr/bin/env python3 -"""kinefly_udp_adapter.py — Kinefly KF/1 UDP → ROS 2 topic, one std_msgs/String per frame. - -Michael's Kinefly fork (mbreiser/Kinefly-MacOS, `--udp HOST:PORT`) sends one UTF-8 JSON -datagram per processed frame: the KF/1 record documented in its docs/udp-protocol.md -(`protocol: "Kinefly"`, `version: 1`, `session`, `sequence`, `source`, `timestamp_s`, -`host_monotonic_s`, `parts.{head,abdomen,left,right,aux}`). Kinefly is untouched; this -node owns the receiving socket and republishes each datagram verbatim on `/kinefly/raw` -inside the same envelope the FicTrac adapter uses: - - {"src": "kinefly", "seq": , "rx_epoch_ms": …, "rx_mono_ns": …, - "raw": ""} - -Protocol discrimination happens HERE, before anything downstream decodes: a datagram -that is not JSON, or whose `protocol`/`version` are not `Kinefly`/1, is counted and -dropped (Kinefly's bridge plan, step 1: discriminate protocol before decoding, never pad -KF data into FicTrac fields). Nothing else is interpreted — the bridge node derives the -logged `["kf", …]` row and (later) the L−R → yaw integrator from the parsed record, so -the mapping lives in one place. - - pixi run kinefly-adapter -- --port 60001 - pixi run kinefly-sim -- --port 60001 --rate 100 # synthetic KF/1 producer -""" - -from __future__ import annotations - -import argparse -import json -import socket -import sys -import threading -import time - -import rclpy -from rclpy.node import Node -from std_msgs.msg import String - -from _common import RELIABLE_QOS, mono_ns, raise_timer_resolution, spin, wall_ms, wrap_line - -TOPIC = "/kinefly/raw" -DEFAULT_PORT = 60001 -MAX_DATAGRAM = 16384 # KF/1 encoder bound (kinefly/core/udp.py) -RAW_QOS = RELIABLE_QOS - - -def kf1_reject_reason(data: bytes) -> str | None: - """Why a datagram is NOT a KF/1 record (None = accept). Cheap and strict on the - identity fields only; full field validation is the bridge node's job.""" - if len(data) > MAX_DATAGRAM: - return "oversize" - try: - obj = json.loads(data.decode("utf-8")) - except (UnicodeDecodeError, json.JSONDecodeError): - return "not JSON" - if not isinstance(obj, dict): - return "not an object" - if obj.get("protocol") != "Kinefly" or obj.get("version") != 1: - return f"protocol/version {obj.get('protocol')!r}/{obj.get('version')!r}" - if not isinstance(obj.get("sequence"), int) or not isinstance(obj.get("parts"), dict): - return "missing sequence/parts" - return None - - - -class KineflyUdpAdapter(Node): - def __init__(self, host: str, port: int, status_every_s: float) -> None: - super().__init__("kinefly_udp_adapter") - self.pub = self.create_publisher(String, TOPIC, RAW_QOS) - self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - self.sock.bind((host, port)) - self.sock.settimeout(0.5) - self.seq = 0 - self.published = 0 - self.rejected = 0 - self._reject_reasons: dict[str, int] = {} - self._stop = threading.Event() - self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True) - self._thread.start() - self.get_logger().info(f"UDP {host}:{port} (KF/1) → {TOPIC} (std_msgs/String JSON, reliable)") - if status_every_s > 0: - self._last = (0, time.monotonic()) - self.create_timer(status_every_s, self._status) - - def _recv_loop(self) -> None: - while not self._stop.is_set(): - try: - data, _ = self.sock.recvfrom(65535) - except socket.timeout: - continue - except OSError: - break - rx_epoch_ms, rx_mono_ns = wall_ms(), mono_ns() # precise on Windows too (_common "clocks") - why = kf1_reject_reason(data) - if why is not None: - self.rejected += 1 - self._reject_reasons[why] = self._reject_reasons.get(why, 0) + 1 - if self._reject_reasons[why] <= 3: - self.get_logger().warning(f"dropped non-KF/1 datagram ({why})") - continue - self.seq += 1 - msg = String() - msg.data = wrap_line("kinefly", self.seq, data.decode("utf-8"), rx_epoch_ms, rx_mono_ns) - self.pub.publish(msg) - self.published += 1 - - def _status(self) -> None: - n0, t0 = self._last - now = time.monotonic() - rate = (self.published - n0) / max(1e-9, now - t0) - self._last = (self.published, now) - self.get_logger().info(f"{self.published} KF/1 frames published ({rate:.1f}/s), {self.rejected} rejected") - - def destroy_node(self) -> bool: - self._stop.set() - try: - self.sock.close() - except OSError: - pass - return super().destroy_node() - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1", help="UDP bind host (default: 127.0.0.1)") - p.add_argument("--port", type=int, default=DEFAULT_PORT, help=f"UDP bind port — Kinefly's --udp destination (default: {DEFAULT_PORT})") - p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)") - args, ros_args = p.parse_known_args(argv) - raise_timer_resolution() # Windows: 1 ms system timer for this process (_common "clocks") - rclpy.init(args=ros_args) - node = KineflyUdpAdapter(args.host, args.port, args.status_every) - spin(node) - print(f"[kinefly-adapter] {node.published} published, {node.rejected} rejected", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/mcap_convert.py b/rig/nodes/mcap_convert.py index 63843fe5..3c2840ea 100644 --- a/rig/nodes/mcap_convert.py +++ b/rig/nodes/mcap_convert.py @@ -103,85 +103,9 @@ def load_bridge_module(path: Path = BRIDGE_PY): B = load_bridge_module() -# ───────────────────────────────────────────────────────────────────────────── -# CDR decoding (XCDR1, little-endian; alignment origin = right after the 4-byte header) -# ───────────────────────────────────────────────────────────────────────────── -_PRIM = { - "bool": ("?", 1), "byte": ("B", 1), "char": ("b", 1), "int8": ("b", 1), "uint8": ("B", 1), - "int16": (" None: - if len(data) < 4: - raise ValueError("CDR payload shorter than its header") - self.d = data - self.p = 4 # the encapsulation header is not part of the aligned stream - self.le = data[1] == 1 - - def _align(self, n: int) -> None: - rel = self.p - 4 - pad = (-rel) % n - self.p += pad - - def prim(self, t: str): - fmt, size = _PRIM[t] - self._align(size) - if not self.le and len(fmt) == 2: - fmt = ">" + fmt[1] - v = struct.unpack_from(fmt, self.d, self.p)[0] - self.p += size - return v - - def string(self) -> str: - n = self.prim("uint32") - raw = self.d[self.p : self.p + n] - self.p += n - return raw.rstrip(b"\x00").decode("utf-8", errors="replace") - - def seq_prim(self, t: str) -> list: - n = self.prim("uint32") - return [self.prim(t) for _ in range(n)] - - -def parse_msgdef(text: str) -> list[tuple[str, str]]: - """ros2msg schema text → [(type, name)] for the TOP message (the first block; nested - definitions after a '====' separator are not needed by our types).""" - fields = [] - for line in text.splitlines(): - if line.startswith("===="): - break - s = line.split("#", 1)[0].strip() - if not s or "=" in s: - continue - typ, name = s.split()[:2] - fields.append((typ, name)) - return fields - - -def decode_cdr(schema_name: str | None, schema_text: str | None, data: bytes): - """→ dict of fields (or {'data': str} for std_msgs/String). Only the shapes our .msg files - use: primitives, string, primitive sequences.""" - if schema_name in (None, "std_msgs/msg/String"): - c = Cdr(data) - return {"data": c.string()} - if not schema_text: - raise ValueError(f"no schema text for {schema_name}; cannot decode without ROS") - c = Cdr(data) - out = {} - for typ, name in parse_msgdef(schema_text): - if typ.endswith("[]"): - base = typ[:-2] - out[name] = c.seq_prim(base) if base in _PRIM else [c.string() for _ in range(c.prim("uint32"))] - elif typ == "string": - out[name] = c.string() - elif typ in _PRIM: - out[name] = c.prim(typ) - else: - raise ValueError(f"{schema_name}: field {name} of type {typ} is not supported by this decoder") - return out +# CDR decoding (XCDR1): rig_nodes.cdr (reiserlab/rig-nodes) — ONE decoder for this converter, the +# sizing study and the arena harness; the names stay importable from here. +from rig_nodes.cdr import Cdr, decode_cdr, parse_msgdef # noqa: E402,F401 # ───────────────────────────────────────────────────────────────────────────── diff --git a/rig/nodes/mcap_index.py b/rig/nodes/mcap_index.py deleted file mode 100644 index dd0f8771..00000000 --- a/rig/nodes/mcap_index.py +++ /dev/null @@ -1,292 +0,0 @@ -#!/usr/bin/env python3 -"""mcap_index.py — rewrite a finished bag as an indexed, chunked, compressed MCAP; recover a torn one. - - pixi run reindex -- runlogs/.bag # in place (keeps .unindexed.mcap until verified, then deletes it) - pixi run reindex -- runlogs/.bag --keep # keep the original beside the new file - pixi run reindex -- runlogs/.bag --recover # a bag the bridge never closed (crash): salvage, index, metadata.yaml - -Why: the bridge node records with the `crashsafe` profile — no chunking, no cache, every record -reaches the disk as it is written — so a SIGKILL loses at most the record in progress. The price is -an MCAP without a chunk/message index: readers must scan it ("Problems: file is unindexed" in -Foxglove; `ros2 bag` and our converter do not mind). Once a run has CLOSED cleanly there is no -crash left to survive, so the bridge calls `reindex()` from Recorder.close(): the same records, -same schemas/channels/metadata, written again by the `mcap` library with chunking, zstd and the -full index. Pure Python; the result is a standard MCAP (rosbag2's `metadata.yaml` is untouched). -The rewrite is verified by re-reading and counting messages per channel before the original is -removed; on any mismatch the original stays and the function reports it. - -Recovery (`recover_bag`, LAB-303 adoption week): a bag whose writer was killed has no -`metadata.yaml` and an MCAP without footer/summary (a 0-byte file with rosbag2's default profile). -`recover_bag` (1) rewrites every `.mcap` with `reindex(recover=True)`, which stops at the torn -tail instead of raising, appends ONE `/arena/session` record `{"event":"recovered",…}` so the bag -itself says it was salvaged, and keeps the torn original as `.torn.bak` (not `.mcap`, so no -reader picks it up); then (2) asks rosbag2's own `Reindexer` for `metadata.yaml`. Afterwards the -bag opens in Foxglove, `ros2 bag info`, and the converter WITHOUT `--recover`. The bridge node runs -this itself when a `log_export` meets such a bag (`needs_recovery`), so the Studio's export after -a bridge restart gets the salvaged log and a `recovered: true` flag. -""" - -from __future__ import annotations - -import argparse -import json -import os -import struct -import sys -import time -from pathlib import Path - -SESSION_TOPIC = "/arena/session" -STRING_SCHEMA = ("std_msgs/msg/String", "ros2msg", b"string data") -RECOVERED_SEQ = 1 << 40 # sorts after every real emission seq (the converter orders by seq) - - -def cdr_string(s: str) -> bytes: - """A std_msgs/String payload as rosbag2 writes it: XCDR1 LE header + uint32 length (incl. - the NUL) + bytes + NUL, padded to 4 — what nodes/mcap_convert.py's decoder reads back.""" - raw = s.encode("utf-8") + b"\x00" - body = struct.pack(" None: - self.level = level - - def __enter__(self): - import zstandard - - self._mod = zstandard - self._saved = zstandard.compress - lvl = self.level - zstandard.compress = lambda data, _l=lvl: zstandard.ZstdCompressor(level=_l).compress(data) - return self - - def __exit__(self, *exc) -> None: - self._mod.compress = self._saved - - -def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compression: str = "zstd", - recover: bool = False, marker: dict | None = None, level: int = ZSTD_LEVEL) -> dict: - """Rewrite one MCAP indexed + compressed. `recover=True` tolerates a torn tail (the records - read up to it are kept), appends the `recovered` session marker (`marker` adds fields) and - keeps the original as `.torn.bak`. Returns a report; `verified` False = nothing replaced. - - The final layout (2026-10-18): a CHUNK index only — no per-message index, which costs more - than the messages of a 50 Hz stream compress to — and zstd at `level` (19; the mcap writer's - own 3 is a streaming default). Readers seek by chunk; Foxglove and `ros2 bag` are unaffected.""" - from mcap.records import Attachment, Channel, Header, Message, Metadata, Schema - from mcap.writer import CompressionType, IndexType, Writer - - src = Path(mcap_path) - tmp = src.with_suffix(".indexed.tmp") - comp = {"zstd": CompressionType.ZSTD, "lz4": CompressionType.LZ4, "none": CompressionType.NONE}[compression] - t0 = time.perf_counter() - schema_map: dict[int, int] = {} - channel_map: dict[int, int] = {} - topic_of: dict[int, str] = {} - want: dict[str, int] = {} - n = 0 - torn, error = False, None - marker_written = False - with open(tmp, "wb") as fout, _zstd_level(level if compression == "zstd" else 3): - w = Writer(fout, compression=comp, index_types=IndexType.ALL & ~IndexType.MESSAGE) - started = False - gen = _scan(src, recover) - while True: - try: - rec = next(gen) - except StopIteration as stop: - if stop.value: - torn, error = stop.value - break - if isinstance(rec, Header): - w.start(profile=rec.profile, library=f"{rec.library} + mcap_index.py") - started = True - elif isinstance(rec, Schema): - if rec.id not in schema_map: - schema_map[rec.id] = w.register_schema(name=rec.name, encoding=rec.encoding, data=rec.data) - elif isinstance(rec, Channel): - if rec.id not in channel_map: - channel_map[rec.id] = w.register_channel(topic=rec.topic, message_encoding=rec.message_encoding, - schema_id=schema_map.get(rec.schema_id, 0), metadata=rec.metadata) - topic_of[rec.id] = rec.topic - elif isinstance(rec, Message): - if not started: - raise ValueError("message before header") - w.add_message(channel_id=channel_map[rec.channel_id], log_time=rec.log_time, data=rec.data, - publish_time=rec.publish_time, sequence=rec.sequence) - want[topic_of[rec.channel_id]] = want.get(topic_of[rec.channel_id], 0) + 1 - n += 1 - elif isinstance(rec, Metadata): - w.add_metadata(name=rec.name, data=rec.metadata) - elif isinstance(rec, Attachment): - w.add_attachment(create_time=rec.create_time, log_time=rec.log_time, name=rec.name, media_type=rec.media_type, data=rec.data) - if recover and started: - # The bag says so itself: one session record, after everything salvaged. The - # converter turns it into a `{"type":"session","event":"recovered",…}` line. - ch = next((cid for sid, cid in channel_map.items() if topic_of.get(sid) == SESSION_TOPIC), None) - if ch is None: - sid = w.register_schema(name=STRING_SCHEMA[0], encoding=STRING_SCHEMA[1], data=STRING_SCHEMA[2]) - ch = w.register_channel(topic=SESSION_TOPIC, message_encoding="cdr", schema_id=sid) - now_ns = time.time_ns() - body = {"seq": RECOVERED_SEQ, "event": "recovered", "ms": now_ns // 1_000_000, "recovered": True, - "salvaged_records": n, "torn": torn, "torn_error": error, "file": src.name, **(marker or {})} - w.add_message(channel_id=ch, log_time=now_ns, publish_time=now_ns, sequence=0, - data=cdr_string(json.dumps(body, separators=(",", ":")))) - want[SESSION_TOPIC] = want.get(SESSION_TOPIC, 0) + 1 - marker_written = True - if started: - w.finish() - if not started: - # Nothing readable (rosbag2's default profile leaves a 0-byte file when killed early). - tmp.unlink(missing_ok=True) - return {"file": str(src), "messages": 0, "bytes_before": src.stat().st_size, "verified": False, - "recovered": recover, "torn": True, "torn_error": error or "no MCAP header", - "error": "nothing salvageable: the file holds no complete record", - "seconds": round(time.perf_counter() - t0, 2)} - # Verify: the new file must yield the same per-topic counts, through the indexed reader. - from mcap.reader import make_reader - - with open(tmp, "rb") as fh: - rd = make_reader(fh) - summ = rd.get_summary() - got: dict[str, int] = {} - for _, chn, _ in rd.iter_messages(log_time_order=False): - got[chn.topic] = got.get(chn.topic, 0) + 1 - ok = got == want and summ is not None and bool(summ.chunk_indexes) - res = {"file": str(src), "messages": n, "bytes_before": src.stat().st_size, "bytes_after": tmp.stat().st_size, - "chunks": len(summ.chunk_indexes) if summ else 0, "compression": compression, - "level": level if compression == "zstd" else None, "message_index": False, "verified": ok, - "seconds": round(time.perf_counter() - t0, 2)} - if recover: - res.update({"recovered": True, "torn": torn, "torn_error": error, "marker": marker_written}) - if not ok: - tmp.unlink(missing_ok=True) - res["error"] = f"verification failed: per-topic counts {got} vs {want}" - return res - # Replace ATOMICALLY (os.replace: rename(2) / MoveFileEx on the same filesystem). A kill - # between an unlink and a rename used to leave a bag directory with metadata.yaml and no - # .mcap at all — for the record of truth that is the one unacceptable state. With - # `recover` / `keep_original` the source is moved aside first, so at every instant either - # the original or the verified rewrite is in place under a name a reader will find. - if recover: - src.rename(src.with_name(src.name + ".torn.bak")) # never a `.mcap` name: no reader must find it - elif keep_original: - src.rename(src.with_name(src.stem + ".unindexed.mcap")) - os.replace(tmp, src) - return res - - -def bag_mcaps(bag: Path) -> list[Path]: - return sorted(f for f in bag.glob("*.mcap") if not f.name.endswith((".unindexed.mcap", ".indexed.tmp"))) - - -def needs_recovery(bag_dir: str | os.PathLike) -> str | None: - """Why a bag needs `recover_bag`, or None when it is whole: no `metadata.yaml` (the writer never - closed), or an `.mcap` without a readable summary/footer (a torn last chunk).""" - bag = Path(bag_dir) - if not bag.is_dir(): - return None - files = bag_mcaps(bag) - if not files: - return None - if not (bag / "metadata.yaml").exists(): - return "no metadata.yaml (the writer never closed this bag)" - from mcap.reader import make_reader - - for f in files: - try: - with open(f, "rb") as fh: - if make_reader(fh, validate_crcs=False).get_summary() is None: - return f"{f.name}: no summary section (torn)" - except Exception as exc: - return f"{f.name}: {type(exc).__name__} reading the summary (torn)" - return None - - -def write_metadata(bag_dir: Path) -> dict: - """rosbag2's own Reindexer → `metadata.yaml` for the bag (`ros2 bag info` then works).""" - try: - import rosbag2_py - except Exception as exc: # pure-Python environment: the MCAP is still whole without it - return {"written": False, "error": f"rosbag2_py unavailable: {exc!r}"} - try: - rosbag2_py.Reindexer().reindex(rosbag2_py.StorageOptions(uri=str(bag_dir), storage_id="mcap")) - return {"written": (bag_dir / "metadata.yaml").exists()} - except Exception as exc: - return {"written": False, "error": f"{type(exc).__name__}: {exc}"} - - -def recover_bag(bag_dir: str | os.PathLike, compression: str = "zstd", marker: dict | None = None) -> dict: - """Salvage a bag the bridge never closed: every `.mcap` rewritten whole + indexed (torn tail - dropped, `recovered` session marker appended, original kept as `.torn.bak`), then - `metadata.yaml`. Idempotent: a bag that needs nothing is left alone (`recovered: False`).""" - bag = Path(bag_dir) - t0 = time.perf_counter() - reason = needs_recovery(bag) - if reason is None: - return {"bag": str(bag), "recovered": False, "reason": None} - files = [] - for f in bag_mcaps(bag): - try: - files.append(reindex(f, compression=compression, recover=True, marker=marker)) - except Exception as exc: - files.append({"file": str(f), "verified": False, "error": f"{type(exc).__name__}: {exc}"}) - salvaged = sum(int(r.get("messages") or 0) for r in files if r.get("verified")) - meta = write_metadata(bag) if salvaged else {"written": False, "error": "nothing salvaged"} - return {"bag": str(bag), "recovered": True, "reason": reason, "files": files, "salvaged_records": salvaged, - "metadata_yaml": meta, "whole": all(r.get("verified") for r in files) and bool(meta.get("written")), - "seconds": round(time.perf_counter() - t0, 2)} - - -def main(argv=None) -> int: - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - ap.add_argument("bag", help="a bag directory or a single .mcap file") - ap.add_argument("--keep", action="store_true", help="keep the original as .unindexed.mcap") - ap.add_argument("--recover", action="store_true", - help="a bag the writer never closed: salvage the records up to the tear, index, write metadata.yaml") - ap.add_argument("--compression", choices=("zstd", "lz4", "none"), default="zstd") - a = ap.parse_args(argv) - p = Path(a.bag) - if a.recover: - if not p.is_dir(): - ap.error("--recover takes the bag DIRECTORY") - r = recover_bag(p, compression=a.compression) - print(json.dumps(r)) - return 0 if (r.get("whole") or not r.get("recovered")) else 1 - files = bag_mcaps(p) if p.is_dir() else [p] - rc = 0 - for f in files: - r = reindex(f, keep_original=a.keep, compression=a.compression) - print(json.dumps(r)) - rc |= 0 if r.get("verified") else 1 - return rc - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/recorder.py b/rig/nodes/recorder.py deleted file mode 100644 index 07e2698e..00000000 --- a/rig/nodes/recorder.py +++ /dev/null @@ -1,177 +0,0 @@ -"""recorder.py — one MCAP bag per run, written with rosbag2_py (LAB-303 Plan B). - -The bridge node records EVERY topic it touches into `/.bag/` while a run's log -is open (log_control enabled → off / log_export / shutdown), so the bag — not the live NDJSON — -is the record of truth. mcap_convert.py derives the behavior_v2 run log from it. - -Two kinds of records go in: - * device topics as received (raw CDR bytes from the subscriptions — `/fictrac/raw` or - `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd`, `/bias/reply`, `/bias/status`), stamped - with the bridge's receive time (MCAP log_time); - * bridge-authored records, serialized here (`/arena/browser` = every browser message, - `/arena/event`, `/arena/frame`, `/arena/session`), each carrying the writer's emission - sequence number `seq`, so the converter can reproduce the live writer's line order. - -Profiles (`--bag-profile`): `default` = rosbag2's MCAP defaults (768 KiB chunks — a chunk is -only flushed when full or at close, so a short run is ONE chunk written at close — plus the -writer's 100 MiB message cache); `crashsafe` = no chunking, no cache — every message reaches -the file as it is written, so a SIGKILL loses at most the record in progress (both measured in -tests/test_ros2_poc.py's crash phase). Thread-safe: subscriptions write from the executor -thread, the asyncio side from the loop thread. Records that arrive while the bag is still -opening (rosbag2 takes ~150 ms to open one) are buffered and written first. - -Timestamps: rosbag2_py's 4-argument write is (topic, data, recv_timestamp, send_timestamp) -→ MCAP log_time = recv, publish_time = send (checked by reading the bag back). -""" - -from __future__ import annotations - -import json -import os -import threading -import time -from pathlib import Path - -import rosbag2_py -from rclpy.serialization import serialize_message -from std_msgs.msg import String - -from _common import wall_ns # the precise wall clock on Windows (time.time_ns elsewhere) - -STRING_TYPE = "std_msgs/msg/String" - -PROFILES = { - # name: (storage_preset_profile, storage_config (dict → YAML), max_cache_size bytes) - # `default` = rosbag2's chunked writer (768 KiB chunks + a 100 MiB message cache, flushed when - # full or at close) with the final layout's options (2026-10-18, docs/development/ - # fictrac-columns-in-the-bag.md §4): zstd at the plugin's slowest level, no per-message index. - # `crashsafe` writes every record at once, uncompressed; Recorder.close() rewrites it into - # the same final layout (mcap_index.reindex) once the run has closed cleanly. - "default": ("", {"compression": "Zstd", "compressionLevel": "Slowest", "noMessageIndex": True}, 100 * 1024 * 1024), - "crashsafe": ("", {"noChunking": True, "noChunkCRC": True, "compression": "None"}, 0), -} - - -def _yaml_from(d: dict) -> str: - # rosbag2_storage_mcap's storage_config_uri is a YAML mapping of its own option names. - return "".join(f"{k}: {json.dumps(v)}\n" for k, v in d.items()) - - -class Recorder: - def __init__(self, bag_dir: str | os.PathLike, topics: dict[str, str], profile: str = "default", - max_bag_bytes: int = 0) -> None: - """`topics`: topic name → ROS type name (e.g. 'std_msgs/msg/String'). `max_bag_bytes` > 0 - asks rosbag2 to split the bag into `_0.mcap`, `_1.mcap`, … at about that size (a - threshold rosbag2 checks after each write, not a hard cap; off by default, plan §3).""" - self.bag_dir = Path(bag_dir) - self.topics = dict(topics) - self.profile = profile - self.max_bag_bytes = int(max_bag_bytes or 0) - self._w = None - self._lock = threading.Lock() - self.count = 0 - self.bytes = 0 - self.dropped = 0 # writes attempted while closed - self.opened_mono = None - self._pending: list | None = None # records that arrived while open() was running - - @property - def active(self) -> bool: - return self._w is not None - - def open(self) -> None: - preset, cfg, cache = PROFILES[self.profile] - cfg_path = "" - if cfg: - # ONE constant sidecar per log dir and profile (its content never changes), not one - # hidden file per run — those accumulated in runlogs/ forever. - cfg_path = str(self.bag_dir.parent / f".mcap-storage-{self.profile}.yaml") - text = _yaml_from(cfg) - try: - if Path(cfg_path).read_text(encoding="utf-8") != text: - raise FileNotFoundError - except (FileNotFoundError, OSError): - Path(cfg_path).write_text(text, encoding="utf-8") - so = rosbag2_py.StorageOptions(uri=str(self.bag_dir), storage_id="mcap", max_cache_size=cache, - storage_preset_profile=preset, storage_config_uri=cfg_path) - if self.max_bag_bytes > 0: - so.max_bagfile_size = self.max_bag_bytes - co = rosbag2_py.ConverterOptions(input_serialization_format="cdr", output_serialization_format="cdr") - with self._lock: - self._pending = [] - self.count = 0 - self.bytes = 0 - w = rosbag2_py.SequentialWriter() - w.open(so, co) - for i, (name, typ) in enumerate(sorted(self.topics.items())): - w.create_topic(rosbag2_py.TopicMetadata(id=i, name=name, type=typ, serialization_format="cdr")) - with self._lock: - self._w = w - self.opened_mono = time.perf_counter() - pending, self._pending = self._pending, None - for topic, data, log_ns, pub_ns in pending or []: - self._write_locked(topic, data, log_ns, pub_ns) - - def write_raw(self, topic: str, data: bytes, t_ns: int | None = None, pub_ns: int | None = None) -> bool: - """Record already-serialized CDR bytes (a raw subscription's payload). `t_ns` = the - recorder's receive time (MCAP log_time; default now); `pub_ns` = the producer's own - stamp when it has one (MCAP publish_time; the closed-loop node's sample time).""" - log_ns = wall_ns() if t_ns is None else t_ns - with self._lock: - if self._w is None: - if self._pending is not None: # open() in progress: keep, write once open - self._pending.append((topic, data, log_ns, pub_ns)) - return True - self.dropped += 1 - return False - self._write_locked(topic, data, log_ns, pub_ns) - return True - - def _write_locked(self, topic: str, data: bytes, log_ns: int, pub_ns: int | None) -> None: - if pub_ns is None: - self._w.write(topic, data, log_ns) - else: - self._w.write(topic, data, log_ns, pub_ns) # (recv_timestamp, send_timestamp) - self.count += 1 - self.bytes += len(data) - - def write_json(self, topic: str, obj, t_ns: int | None = None, pub_ns: int | None = None) -> bool: - """Record a JSON object as std_msgs/String (compact separators, like the live log).""" - m = String() - m.data = json.dumps(obj, separators=(",", ":")) - return self.write_raw(topic, serialize_message(m), t_ns, pub_ns) - - def write_msg(self, topic: str, msg, t_ns: int | None = None, pub_ns: int | None = None) -> bool: - """Record a typed ROS message object.""" - return self.write_raw(topic, serialize_message(msg), t_ns, pub_ns) - - def close(self, reindex: bool = True) -> dict: - with self._lock: - w, self._w = self._w, None - if w is None: - return {} - if hasattr(w, "close"): - w.close() - else: # older rosbag2_py: the destructor closes - del w - files = sorted(self.bag_dir.glob("*.mcap")) - indexed = None - if reindex and self.profile == "crashsafe": - # The run closed cleanly: trade the crash-safe layout for an indexed, compressed one - # (same records; Foxglove and every seeking reader then open it without a scan). - try: - from mcap_index import reindex as _reindex - - indexed = [_reindex(f) for f in files] - except Exception as exc: # never let a post-close rewrite lose the run - indexed = [{"error": repr(exc)}] - return { - "indexed": indexed, - "bag": str(self.bag_dir), - "files": [f.name for f in files], - "bytes_on_disk": sum(f.stat().st_size for f in files), - "records": self.count, - "payload_bytes": self.bytes, - "profile": self.profile, - "open_s": round(time.perf_counter() - self.opened_mono, 3) if self.opened_mono else None, - } diff --git a/rig/nodes/rig.py b/rig/nodes/rig.py index 8d337e9f..1c046ac8 100644 --- a/rig/nodes/rig.py +++ b/rig/nodes/rig.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -"""rig.py — the one command a rig runs: Zenoh router + adapters + bridge node, supervised. +"""rig.py — the one command an ARENA rig runs: Zenoh router + adapters + the Studio gateway, supervised. pixi run rig # router, fictrac adapter, bridge node pixi run rig -- --kinefly --bias # + Kinefly adapter + BIAS node @@ -8,148 +8,69 @@ pixi run rig -- --scanimage # + the ScanImage node (JSON server on this PC); --si-mock for a stand-in pixi run rig -- --foxglove # + foxglove_bridge (:8766) from the `viz` environment +This file is the arena rig's COMPOSITION (rig-software-repos-and-runners.md §3.2): which nodes an +arena rig runs, in which order, and what happens when one dies. The device nodes and simulators +come from the installed `rig_nodes` package (reiserlab/rig-nodes) and are started as +`python -m rig_nodes.`; the mechanics — process groups, portable signals, the port +preflight, the supervised Child — are `rig_nodes.supervise`. What stays here is policy: the +gateway (bridge_node.py, this directory) and the arena visualization (viz_node.py) are this rig's +own nodes, and the rig exits when the gateway or the router dies (the Studio's WebSocket is gone, +nothing else matters). + Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every adapter/node. Each child's stderr is prefixed with its name. Ctrl-C stops everything in -reverse order; a child that dies on its own is reported (and the whole rig exits if it was -the bridge node — the Studio's WebSocket is gone, nothing else matters). Options after a -child's name are passed through, e.g. `--bridge-args "--frames 60"`. +reverse order; a child that dies on its own is reported. Options after a child's name are +passed through, e.g. `--bridge-args "--frames 60"`. """ from __future__ import annotations import argparse import os -import shlex import shutil -import socket import signal -import subprocess import sys import threading import time from pathlib import Path +from rig_nodes import zenoh +from rig_nodes.supervise import Child, preflight, split_args, wait_port + HERE = Path(__file__).resolve().parent NODES = HERE ROOT = HERE.parent # rig/ (the pixi workspace) -SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py" # `pixi install -e viz` puts foxglove_bridge in a sibling of the env this runs in: under # .pixi/envs, or under the `detached-environments` directory when one is configured (the -# Windows short-path setup for the typed build, WINDOWS-TEST.md). +# Windows short-path setup, WINDOWS-TEST.md). _ENVS = Path(os.environ["CONDA_PREFIX"]).parent if os.environ.get("CONDA_PREFIX") else ROOT / ".pixi" / "envs" VIZ_ENV = _ENVS / "viz" FOXGLOVE_PORT = 8766 -sys.path.insert(0, str(HERE)) -from _common import SIGKILL, popen_group, signal_group, wait_port # noqa: E402 - - -def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool: - """True when binding host:port fails (something else holds it) — or, on Windows, when a - TCP connect to it succeeds.""" - kind = socket.SOCK_STREAM if proto == "tcp" else socket.SOCK_DGRAM - s = socket.socket(socket.AF_INET, kind) - try: - if proto == "tcp" and os.name != "nt": - # Ignore TIME_WAIT leftovers from a just-stopped rig; a LIVE listener still fails. - # Not on Windows: there SO_REUSEADDR lets this probe bind OVER a live listener (ww18 - # 2026-10-15: a running router on 7447 went unreported), and TIME_WAIT does not block - # a plain bind. - s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - s.bind((host, port)) - except OSError: - return True - finally: - s.close() - if proto == "tcp" and os.name == "nt": - # Windows: a listener that shares its address blocks NO bind, wildcard or specific — the - # real BIAS (Qt, 0.0.0.0:5010) on ww18 2026-10-15. Only a connect sees it. - try: - with socket.create_connection((host, port), timeout=0.3): - return True - except OSError: - pass - return False - - -def split_args(s: str) -> list[str]: - """`--x-args "…"` → argv. POSIX shlex treats `\\` as an escape, so on Windows - `--video-dir D:\\rec\\reiserm\\ros2-poc` became the drive-relative `D:recreisermros2-poc` - and BIAS wrote the run's video there (ww18 2026-10-15). Windows: split without escapes, - then drop the quotes around a token ("C:\\My Videos\\x").""" - if os.name != "nt": - return shlex.split(s) - return [t[1:-1] if len(t) >= 2 and t[0] == t[-1] and t[0] in "\"'" else t for t in shlex.split(s, posix=False)] - - -class Child: - def __init__(self, name: str, argv: list[str]) -> None: - self.name = name - self.argv = argv - self.proc: subprocess.Popen | None = None - - def start(self) -> None: - # Own process group per child (popen_group), so a stop signal reaches wrappers AND - # what they spawn (`ros2 run … rmw_zenohd` does not forward SIGINT to the router). - self.proc = popen_group( - self.argv, - stdout=subprocess.PIPE, - stderr=subprocess.STDOUT, - text=True, - bufsize=1, - env=os.environ.copy(), - ) - threading.Thread(target=self._pump, name=f"pump-{self.name}", daemon=True).start() - - def _signal(self, sig: int) -> None: - assert self.proc - signal_group(self.proc, sig) - - def _pump(self) -> None: - assert self.proc and self.proc.stdout - for line in self.proc.stdout: - sys.stderr.write(f"[{self.name:8}] {line}") - sys.stderr.flush() - - def alive(self) -> bool: - return self.proc is not None and self.proc.poll() is None - - def stop(self, grace_s: float = 3.0) -> None: - if not self.alive(): - return - assert self.proc - try: - self._signal(signal.SIGINT) - self.proc.wait(grace_s) - except subprocess.TimeoutExpired: - self._signal(signal.SIGTERM) - try: - self.proc.wait(2.0) - except subprocess.TimeoutExpired: - self._signal(SIGKILL) - except (ProcessLookupError, OSError, ValueError): - pass +def node_argv(module: str, *args: str) -> list[str]: + """A rig_nodes module as a child process of THIS interpreter (the installed package).""" + return [sys.executable, "-m", module, *args] def main(argv: list[str] | None = None) -> int: p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) p.add_argument("--kinefly", action="store_true", help="also run the Kinefly KF/1 adapter") p.add_argument("--bias", action="store_true", help="also run the BIAS camera node") - p.add_argument("--bias-sim", action="store_true", help="also run bias_sim.py (a fake BIAS program)") + p.add_argument("--bias-sim", action="store_true", help="also run the BIAS simulator (a fake BIAS program)") p.add_argument("--scanimage", action="store_true", help="also run the ScanImage node (talks to ScanImage's JSON server, default 127.0.0.1:5555)") - p.add_argument("--si-mock", action="store_true", help="also run tests/si_json_mock.py (a stand-in for ScanImage's JSON server, port 5555)") + p.add_argument("--si-mock", action="store_true", help="also run the ScanImage JSON-server stand-in (port 5555)") p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)") p.add_argument("--viz-args", default="", help="extra args for viz_node.py (--deg-per-frame, --frame-dir, --feature-az0, --frames)") p.add_argument("--foxglove", action="store_true", help=f"also run foxglove_bridge on ws://127.0.0.1:{FOXGLOVE_PORT} (the `viz` environment; skipped with a note when it is not installed)") p.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on this host") p.add_argument("--bridge-args", default="", help="extra args for bridge_node.py") - p.add_argument("--fictrac-args", default="", help="extra args for fictrac_udp_adapter.py") - p.add_argument("--kinefly-args", default="", help="extra args for kinefly_udp_adapter.py") - p.add_argument("--bias-args", default="", help="extra args for bias_node.py") - p.add_argument("--scanimage-args", default="", help="extra args for scanimage_node.py (e.g. --port 5555 --status-every 1)") - p.add_argument("--sim-args", default="--proto udp --rate 50", help="args for fictrac_sim.py") + p.add_argument("--fictrac-args", default="", help="extra args for the FicTrac adapter") + p.add_argument("--kinefly-args", default="", help="extra args for the Kinefly adapter") + p.add_argument("--bias-args", default="", help="extra args for the BIAS node") + p.add_argument("--scanimage-args", default="", help="extra args for the ScanImage node (e.g. --port 5555 --status-every 1)") + p.add_argument("--sim-args", default="--proto udp --rate 50", help="args for the FicTrac simulator") args = p.parse_args(argv) py = sys.executable @@ -167,45 +88,46 @@ def main(argv: list[str] | None = None) -> int: # Pre-flight: the ports this rig will bind. A clear line beats the router's Rust # panic text or a Python OSError traceback when a second `pixi run rig`, a stray # router, or the shipping bridge 3.4 (also ws :8765 + udp :60000) is still running. - taken = [] - for proto, port, who in ( - ("tcp", 7447, "a Zenoh router (another `pixi run rig` / `pixi run router`)") if not args.no_router else (None, 0, ""), + ports = [ ("tcp", 8765, "a bridge on the Studio WebSocket port — bridge 3.4 (`pixi run bridge` at the repo root) or another rig"), ("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"), - ("udp", 60001, "another Kinefly adapter") if args.kinefly else (None, 0, ""), - ("tcp", 5010, "a BIAS program or bias_sim") if args.bias_sim else (None, 0, ""), - ("tcp", 5555, "ScanImage's JSON server or si_json_mock") if args.si_mock else (None, 0, ""), - ("tcp", FOXGLOVE_PORT, "another foxglove_bridge (`pixi run -e viz foxglove-bridge` or another rig --foxglove)") if foxglove else (None, 0, ""), - ): - if proto and port_in_use(proto, port): - taken.append(f" {proto} 127.0.0.1:{port} is in use — probably {who}") + ] + if not args.no_router: + ports.insert(0, ("tcp", zenoh.ROUTER_PORT, "a Zenoh router (another `pixi run rig` / `pixi run router`)")) + if args.kinefly: + ports.append(("udp", 60001, "another Kinefly adapter")) + if args.bias_sim: + ports.append(("tcp", 5010, "a BIAS program or the BIAS simulator")) + if args.si_mock: + ports.append(("tcp", 5555, "ScanImage's JSON server or its stand-in")) + if foxglove: + ports.append(("tcp", FOXGLOVE_PORT, "another foxglove_bridge (`pixi run -e viz foxglove-bridge` or another rig --foxglove)")) + taken = preflight(ports) if taken: print("[rig] cannot start, ports already bound:\n" + "\n".join(taken) + "\n[rig] stop that process first (or pass --no-router if the router is meant to be shared)", file=sys.stderr) return 2 - # The Zenoh config paths: pixi's activation.env sets them via $PIXI_PROJECT_ROOT, which a - # Windows shell would leave literal — set them explicitly here so `pixi run rig` is the - # same command on every platform. - cfg_dir = HERE.parent / "config" - os.environ["ZENOH_ROUTER_CONFIG_URI"] = str(cfg_dir / "zenoh-router.json5") - os.environ["ZENOH_SESSION_CONFIG_URI"] = str(cfg_dir / "zenoh-session.json5") - os.environ.setdefault("RMW_IMPLEMENTATION", "rmw_zenoh_cpp") - os.environ.setdefault("ZENOH_ROUTER_CHECK_ATTEMPTS", "0") + # The Zenoh config paths come from the installed rig_nodes package (loopback-only), set here so + # `pixi run rig` is the same command on every platform — a Windows shell would leave pixi's + # `$PIXI_PROJECT_ROOT` activation value literal. + os.environ["ZENOH_ROUTER_CONFIG_URI"] = str(zenoh.ROUTER_CONFIG) + os.environ["ZENOH_SESSION_CONFIG_URI"] = str(zenoh.SESSION_CONFIG) + zenoh.apply_env_defaults() children: list[Child] = [] if not args.no_router: - children.append(Child("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"])) + children.append(Child("router", zenoh.router_argv())) nodes: list[Child] = [ - Child("fictrac", [py, str(NODES / "fictrac_udp_adapter.py"), *split_args(args.fictrac_args)]), + Child("fictrac", node_argv("rig_nodes.fictrac_udp_adapter", *split_args(args.fictrac_args))), ] if args.kinefly: - nodes.append(Child("kinefly", [py, str(NODES / "kinefly_udp_adapter.py"), *split_args(args.kinefly_args)])) + nodes.append(Child("kinefly", node_argv("rig_nodes.kinefly_udp_adapter", *split_args(args.kinefly_args)))) if args.bias_sim: - nodes.append(Child("bias-sim", [py, str(NODES / "bias_sim.py")])) + nodes.append(Child("bias-sim", node_argv("rig_nodes.sims.bias_sim"))) if args.bias: - nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *split_args(args.bias_args)])) + nodes.append(Child("bias", node_argv("rig_nodes.bias_node", *split_args(args.bias_args)))) if args.si_mock: - nodes.append(Child("si-mock", [py, str(HERE.parent / "tests" / "si_json_mock.py")])) + nodes.append(Child("si-mock", node_argv("rig_nodes.sims.si_json_mock"))) if args.scanimage: - nodes.append(Child("scanimage", [py, str(NODES / "scanimage_node.py"), *split_args(args.scanimage_args)])) + nodes.append(Child("scanimage", node_argv("rig_nodes.scanimage_node", *split_args(args.scanimage_args)))) bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)]) nodes.append(bridge) if foxglove: @@ -217,7 +139,7 @@ def main(argv: list[str] | None = None) -> int: # packages; RMW_IMPLEMENTATION + the Zenoh configs pass through the environment. nodes.append(Child("foxglove", [pixi, "run", "--manifest-path", str(ROOT / "pixi.toml"), "-e", "viz", "foxglove-bridge"])) if args.sim: - nodes.append(Child("sim", [py, str(SIM), *split_args(args.sim_args)])) + nodes.append(Child("sim", node_argv("rig_nodes.sims.fictrac_sim", *split_args(args.sim_args)))) stop = threading.Event() for sig in (signal.SIGINT, signal.SIGTERM): @@ -229,10 +151,10 @@ def main(argv: list[str] | None = None) -> int: for c in children: c.start() if children: - if wait_port("127.0.0.1", 7447, 15.0): - print("[rig] zenoh router listening on 127.0.0.1:7447", file=sys.stderr) + if wait_port("127.0.0.1", zenoh.ROUTER_PORT, 15.0): + print(f"[rig] zenoh router listening on 127.0.0.1:{zenoh.ROUTER_PORT}", file=sys.stderr) else: - print("[rig] router did not come up on 127.0.0.1:7447 within 15 s", file=sys.stderr) + print(f"[rig] router did not come up on 127.0.0.1:{zenoh.ROUTER_PORT} within 15 s", file=sys.stderr) rc = 1 return rc for c in nodes: @@ -245,8 +167,7 @@ def main(argv: list[str] | None = None) -> int: time.sleep(0.5) for c in children: if not c.alive(): - code = c.proc.returncode if c.proc else None - print(f"[rig] {c.name} exited (code {code})", file=sys.stderr) + print(f"[rig] {c.name} exited (code {c.returncode})", file=sys.stderr) children.remove(c) if c is bridge or c.name == "router": # Without the router every node retries forever while the Studio still diff --git a/rig/nodes/scanimage_cmd.py b/rig/nodes/scanimage_cmd.py deleted file mode 100644 index 0d4ec478..00000000 --- a/rig/nodes/scanimage_cmd.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python3 -"""scanimage_cmd.py — send one plugin command to scanimage_node.py and print its reply. - - pixi run scanimage-cmd -- ping - pixi run scanimage-cmd -- status --json - pixi run scanimage-cmd -- setFileStem --stem violet_d7 - pixi run scanimage-cmd -- set --property hStackManager.framesPerSlice --value 750 - pixi run scanimage-cmd -- grab - pixi run scanimage-cmd -- waitIdle --timeout-s 40 - pixi run scanimage-cmd -- abort - -Exit 0 on `ok`, 1 on an error reply, 3 on an UNKNOWN outcome (timeout), 2 on no reply. -""" - -from __future__ import annotations - -import argparse -import json -import sys -import threading -import time -import uuid - -import rclpy -from rclpy.node import Node -from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy -from std_msgs.msg import String - -QOS = QoSProfile(reliability=QoSReliabilityPolicy.RELIABLE, history=QoSHistoryPolicy.KEEP_LAST, depth=50, durability=QoSDurabilityPolicy.VOLATILE) - - -def parse_value(text: str): - """--value as JSON when it parses (750, true, "x"), else the plain string.""" - try: - return json.loads(text) - except (json.JSONDecodeError, TypeError): - return text - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("command", help="ping | status | setFileStem | set | grab | waitIdle | abort | get") - p.add_argument("--stem", help="setFileStem: the log file stem") - p.add_argument("--property", help="get/set: property path, e.g. hStackManager.framesPerSlice") - p.add_argument("--value", help="set: the value (JSON if it parses, else a string)") - p.add_argument("--timeout-s", type=float, help="waitIdle: seconds to wait for acqState idle") - p.add_argument("--timeout", type=float, default=45.0, help="seconds to wait for the reply (default: 45)") - p.add_argument("--json", action="store_true", help="print the raw reply JSON") - args, ros_args = p.parse_known_args(argv) - params: dict = {} - if args.stem is not None: - params["stem"] = args.stem - if args.property is not None: - params["property"] = args.property - if args.value is not None: - params["value"] = parse_value(args.value) - if args.timeout_s is not None: - params["timeout_s"] = args.timeout_s - cid = str(uuid.uuid4())[:8] - - rclpy.init(args=ros_args) - node = Node("scanimage_cmd_" + cid) - got: dict = {} - done = threading.Event() - - def on_reply(msg: String) -> None: - try: - rep = json.loads(msg.data) - except json.JSONDecodeError: - return - if isinstance(rep, dict) and rep.get("id") == cid: - got.update(rep) - done.set() - - node.create_subscription(String, "/scanimage/reply", on_reply, QOS) - pub = node.create_publisher(String, "/scanimage/cmd", QOS) - time.sleep(0.5) # discovery - m = String() - m.data = json.dumps({"id": cid, "command": args.command, "params": params}) - pub.publish(m) - deadline = time.monotonic() + args.timeout - while not done.is_set() and time.monotonic() < deadline: - rclpy.spin_once(node, timeout_sec=0.1) - node.destroy_node() - try: - rclpy.try_shutdown() - except Exception: - pass - if not got: - print(f"[scanimage-cmd] no reply within {args.timeout:g}s (is `pixi run scanimage-node` running?)", file=sys.stderr) - return 2 - if args.json: - print(json.dumps(got, indent=1)) - else: - v = got.get("value") - print(f"{got.get('command')} → {got.get('outcome')} ({got.get('rtt_ms')} ms)" + (f" value={v!r}" if v not in (None, "") else "") + (f" error={got.get('error')}" if got.get("error") else "")) - if got.get("artifact"): - print(f"artifact: {got['artifact']}") - if got.get("reconciled"): - print(f"reconciled status: {got['reconciled']}") - return 0 if got.get("ok") else (3 if got.get("outcome") == "unknown" else 1) - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/scanimage_node.py b/rig/nodes/scanimage_node.py deleted file mode 100644 index b5efc369..00000000 --- a/rig/nodes/scanimage_node.py +++ /dev/null @@ -1,486 +0,0 @@ -#!/usr/bin/env python3 -"""scanimage_node.py — ScanImage as a ROS 2 node: protocol plugin commands in, replies + status out. - -ScanImage (2026.0.0) has no ROS node. This adapter talks to its built-in JSON server -(`most.network.json.Server`, started in MATLAB with `hJ = most.network.json.Server(5555)`; -chosen over si_zmp on LAB-305's measurements: event-driven, no frame-timing disturbance, -~2 ms replies) and exposes it on three topics, all std_msgs/String JSON (no custom types): - - /scanimage/cmd IN {"id": , "command": , "params": {…}} - /scanimage/reply OUT {"id", "command", "params", "ok", "outcome": "ok"|"error"|"unknown", "value", - "error", "steps": [...per JSON request...], "rtt_ms", "t_ms", "rx_epoch_ms", - "artifact": {"kind":"tiff", "path", "stem", "counter"} (grab)} - /scanimage/status OUT every --status-every s: {"reachable", "acqState", "lastFrameNumber", - "logFileCounter", "logFileStem", "logFilePath", "loggingEnable", "rtt_ms", "t_ms"} - -The `command` vocabulary is the protocol's `scanimage` plugin (js/plugin-registry.js, -class "ScanImagePlugin" — MATLAB has no such class yet): - - setFileStem(stem) hScan2D.logFileStem = stem (one TIFF series per stem) - set(property, value) ONE scalar property from SET_ALLOWLIST (framesPerSlice, logging on/off, - file path/stem/counter); anything else is refused here, never sent - grab eval hSI.startGrab(), then confirm acqState == 'grab' - waitIdle(timeout_s) poll acqState until 'idle' (the grab finished) or timeout_s (default 30) - abort eval hSI.abort(), then confirm acqState == 'idle' - get(property) ONE scalar property from GET_ALLOWLIST (also what status polls) - ping / status reachability + the status snapshot - -Why the allowlists (LAB-305, stock server on the rig, patches reverted): B2 — a `get` of an -OBJECT-valued property gets no reply and the client hangs; B4 — a partial message blocks -MATLAB for ~10 s, so every request is one length-prefixed write; the server is single-client, -so this node is the ONLY client and status polling is coalesced; `eval` exists on the server -but this node sends exactly two fixed expressions (startGrab, abort) and never a string from -a protocol. The JSON client is ported from tests/remote-control/si_remote.py (JsonClient) in -reiserlab/scanimage-2026-bergamo (Hannah Marie Santos), with attribution. - -LAB-303 semantics (as bias_node.py): `timeout_s` per request (`slow_timeout_s` for grab/abort/ -startFocus — ScanImage's startGrab is synchronous and takes 1.2–2.4 s on the Bergamo PC); a -timeout is an UNKNOWN outcome (`outcome: "unknown"`), the TCP connection is dropped and -rebuilt (the stream is out of sync after a timeout), and the node reconciles with a status -read before anything else. `critical` / `on_loss` are the runner's decision — the node reports. - - pixi run scanimage-node -- --host 127.0.0.1 --port 5555 - pixi run scanimage-cmd -- status - pixi run scanimage-cmd -- setFileStem --stem violet_d7 - pixi run scanimage-cmd -- grab && pixi run scanimage-cmd -- waitIdle --timeout-s 40 -""" - -from __future__ import annotations - -import argparse -import json -import queue -import socket -import struct -import sys -import threading -import time - -import rclpy -from rclpy.node import Node -from std_msgs.msg import String - -from _common import RELIABLE_QOS, raise_timer_resolution, spin, wall_ms - -CMD_TOPIC = "/scanimage/cmd" -REPLY_TOPIC = "/scanimage/reply" -STATUS_TOPIC = "/scanimage/status" -QOS = RELIABLE_QOS -PLUGIN_COMMANDS = ("setFileStem", "set", "grab", "waitIdle", "abort", "get", "ping", "status") - -# Scalar properties this node will read. Everything here encodes as a JSON scalar or a flat -# numeric vector in ScanImage 2026.0.0 — never an object (B2). -GET_ALLOWLIST = frozenset({ - "hSI.acqState", - "hSI.acqsPerLoop", - "hSI.hDisplay.lastFrameNumber", - "hSI.hScan2D.logFileStem", - "hSI.hScan2D.logFilePath", - "hSI.hScan2D.logFileCounter", - "hSI.hScan2D.logAverageFactor", - "hSI.hScan2D.bidirectional", - "hSI.hChannels.loggingEnable", - "hSI.hChannels.channelSave", - "hSI.hStackManager.framesPerSlice", - "hSI.hStackManager.numSlices", - "hSI.hRoiManager.scanFrameRate", - "hSI.hRoiManager.scanZoomFactor", - "hSI.hRoiManager.linesPerFrame", - "hSI.hRoiManager.pixelsPerLine", -}) -# Scalar properties a protocol may set. Deliberately small: scan geometry, zoom, channels, -# power, gate windows (B3) and anything saved to the MDF stay in ScanImage's own UI/config. -SET_ALLOWLIST = frozenset({ - "hSI.hScan2D.logFileStem", - "hSI.hScan2D.logFilePath", - "hSI.hScan2D.logFileCounter", - "hSI.hStackManager.framesPerSlice", - "hSI.hChannels.loggingEnable", -}) -# The only two expressions ever sent as `eval` (plus startFocus for the CLI's bench check). -EVAL_GRAB = "hSI.startGrab()" -EVAL_ABORT = "hSI.abort()" -EVAL_FOCUS = "hSI.startFocus()" -SLOW_COMMANDS = frozenset({"grab", "abort", "focus"}) -STATUS_PROPS = ("hSI.acqState", "hSI.hDisplay.lastFrameNumber", "hSI.hScan2D.logFileCounter", - "hSI.hScan2D.logFileStem", "hSI.hScan2D.logFilePath", "hSI.hChannels.loggingEnable") - - -def canon(prop: str) -> str: - """'hScan2D.logFileStem' and 'hSI.hScan2D.logFileStem' name the same property.""" - prop = str(prop or "").strip() - return prop if prop.startswith("hSI.") or not prop else "hSI." + prop - - -def coerce_scalar(value): - """A protocol's `set` value arrives as text from the designer ("640", "true", "F:\\data"): - make it the JSON scalar the ScanImage property wants — int, float, bool — and leave real - text (paths, stems) alone. Non-strings pass through unchanged.""" - if not isinstance(value, str): - return value - t = value.strip() - low = t.lower() - if low in ("true", "false"): - return low == "true" - try: - return int(t) - except ValueError: - pass - try: - f = float(t) - return f if t.lower() not in ("nan", "inf", "-inf", "+inf") else value - except ValueError: - return value - - -class SiError(RuntimeError): - """The server replied with an error.""" - - -class SiTimeout(TimeoutError): - """No (complete) reply within the timeout — an UNKNOWN outcome.""" - - -class JsonClient: - """ScanImage's JSON server over TCP: ` None: - self.host, self.port = host, port - self.timeout_s = timeout_s - self.slow_timeout_s = max(timeout_s, slow_timeout_s if slow_timeout_s is not None else timeout_s) - self._sock: socket.socket | None = None - self.reconnects = 0 - - @property - def base(self) -> str: - return f"json://{self.host}:{self.port}" - - def _connect(self) -> None: - self._sock = socket.create_connection((self.host, self.port), timeout=self.timeout_s) - self._sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) - - def drop(self) -> None: - """Close the connection; the next request reconnects. REQUIRED after a timeout: the - stream may hold a late reply that would be read as the answer to the next request.""" - if self._sock is not None: - try: - self._sock.close() - except OSError: - pass - self._sock = None - self.reconnects += 1 - - def _recv_exact(self, n: int) -> bytes: - assert self._sock is not None - buf = b"" - while len(buf) < n: - chunk = self._sock.recv(n - len(buf)) - if not chunk: - raise ConnectionError("ScanImage JSON server closed the connection") - buf += chunk - return buf - - def request(self, msg: dict, timeout_s: float | None = None) -> tuple[dict, float]: - """→ (reply dict, rtt_ms). Raises SiTimeout (connection dropped), SiError, OSError.""" - data = json.dumps(msg, separators=(",", ":")).encode("utf-8") - payload = struct.pack(" tuple[object, float]: - rep, rtt = self.request({"command": "get", "property": prop}, timeout_s) - return rep.get("value"), rtt - - def set(self, prop: str, value, timeout_s: float | None = None) -> tuple[object, float]: - rep, rtt = self.request({"command": "set", "property": prop, "value": value}, timeout_s) - return rep.get("actual", value), rtt - - def eval(self, expr: str, timeout_s: float | None = None) -> float: - _, rtt = self.request({"command": "eval", "function": expr, "num_outputs": 0}, timeout_s) - return rtt - - -class ScanImageNode(Node): - def __init__(self, cli: JsonClient, status_every_s: float, poll_s: float, default_wait_s: float) -> None: - super().__init__("scanimage") - self.cli = cli - self.poll_s = poll_s - self.default_wait_s = default_wait_s - self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS) - self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS) - self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS) - self._q: queue.Queue = queue.Queue() - self._status_pending = False # at most ONE status poll waits in the queue (coalesced) - self._worker = threading.Thread(target=self._work, name="scanimage-json", daemon=True) - self._worker.start() - if status_every_s > 0: - self.create_timer(status_every_s, self._enqueue_status) - self.commands = 0 - self.get_logger().info(f"ScanImage JSON server at {cli.host}:{cli.port} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s") - - # ── plumbing ──────────────────────────────────────────────────────────────────────── - def _publish(self, pub, obj: dict) -> None: - obj.setdefault("rx_epoch_ms", wall_ms()) - m = String() - m.data = json.dumps(obj, separators=(",", ":"), default=str) - pub.publish(m) - - def _on_cmd(self, msg: String) -> None: - try: - req = json.loads(msg.data) - except json.JSONDecodeError: - self._publish(self.reply_pub, {"id": None, "ok": False, "outcome": "error", "error": "command is not JSON"}) - return - if isinstance(req, dict): - self._q.put(("cmd", req)) - - def _enqueue_status(self) -> None: - if not self._status_pending: - self._status_pending = True - self._q.put(("status", None)) - - def _work(self) -> None: - while True: - kind, payload = self._q.get() - try: - if kind == "status": - self._status_pending = False - self._do_status() - else: - self._do_cmd(payload) - except Exception as exc: # must not kill the worker - self.get_logger().error(f"{kind} failed: {exc!r}") - if kind == "cmd": - self._publish(self.reply_pub, {"id": (payload or {}).get("id"), "command": (payload or {}).get("command"), - "ok": False, "outcome": "error", "error": f"node error: {exc!r}"}) - - # ── status ────────────────────────────────────────────────────────────────────────── - def _snapshot(self, steps: list | None = None) -> dict: - """The status snapshot: one `get` per STATUS_PROPS (all scalar). acqState must read; any - other property that ScanImage answers with an error is None + `errors[prop]` — e.g. - hDisplay.lastFrameNumber throws "Index exceeds array bounds" until the first acquisition - after ScanImage starts (Bergamo, 2026-10-16). Timeouts and socket errors still raise.""" - out: dict = {} - errors: dict = {} - rtt_total = 0.0 - for prop in STATUS_PROPS: - try: - v, rtt = self.cli.get(prop) - except SiError as exc: - if prop == "hSI.acqState": - raise - out[prop.split(".")[-1]] = None - errors[prop] = str(exc).splitlines()[0] - if steps is not None: - steps.append({"command": "get", "property": prop, "ok": False, "error": errors[prop]}) - continue - rtt_total += rtt - out[prop.split(".")[-1]] = v - if steps is not None: - steps.append({"command": "get", "property": prop, "ok": True, "value": v, "rtt_ms": rtt}) - if errors: - out["errors"] = errors - out["rtt_ms"] = round(rtt_total, 2) - return out - - def _do_status(self) -> dict | None: - t_ms = wall_ms() - try: - st = self._snapshot() - self._publish(self.status_pub, {"reachable": True, "t_ms": t_ms, **st}) - return st - except (SiTimeout, SiError, OSError) as exc: - self._publish(self.status_pub, {"reachable": False, "t_ms": t_ms, "error": str(exc)}) - return None - - # ── commands ──────────────────────────────────────────────────────────────────────── - def _do_cmd(self, req: dict) -> None: - self.commands += 1 - cid = req.get("id") - command = str(req.get("command", "")) - params = req.get("params") if isinstance(req.get("params"), dict) else {} - t_ms = wall_ms() - t0 = time.perf_counter() - out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []} - steps = out["steps"] - try: - if command not in PLUGIN_COMMANDS: - raise ValueError(f"unknown plugin command {command!r} (one of {PLUGIN_COMMANDS})") - value = self._run(command, params, steps) - out.update({"ok": True, "outcome": "ok", "value": value}) - if command == "grab" and isinstance(value, dict): - out["artifact"] = {"kind": "tiff", "program": "scanimage", "path": value.get("logFilePath"), - "stem": value.get("logFileStem"), "counter": value.get("logFileCounter")} - except SiTimeout as exc: - # UNKNOWN: the request may or may not have taken effect (the eval may have started - # the grab). The connection was dropped; reconcile with a status read, and say so. - steps.append({"ok": None, "error": str(exc)}) - out.update({"ok": False, "outcome": "unknown", "error": str(exc)}) - st = self._do_status() - if st is not None: - out["reconciled"] = st - except SiError as exc: - steps.append({"ok": False, "error": str(exc)}) - out.update({"ok": False, "outcome": "error", "error": f"ScanImage: {exc}"}) - except (ValueError, TypeError) as exc: - out.update({"ok": False, "outcome": "error", "error": str(exc)}) - except OSError as exc: - steps.append({"ok": False, "error": str(exc)}) - out.update({"ok": False, "outcome": "error", "error": str(exc)}) - out["rtt_ms"] = round((time.perf_counter() - t0) * 1000.0, 2) - self._publish(self.reply_pub, out) - if out["ok"]: - self.get_logger().info(f"{command} → ok ({out['rtt_ms']} ms)") - else: - self.get_logger().warning(f"{command} → {out['outcome']} ({out['rtt_ms']} ms): {out.get('error')}") - - def _get(self, prop: str, steps: list): - prop = canon(prop) - if prop not in GET_ALLOWLIST: - raise ValueError(f"{prop!r} is not a readable scalar property (allowlist: {sorted(GET_ALLOWLIST)})") - v, rtt = self.cli.get(prop) - steps.append({"command": "get", "property": prop, "ok": True, "value": v, "rtt_ms": rtt}) - return v - - def _set(self, prop: str, value, steps: list): - prop = canon(prop) - if prop not in SET_ALLOWLIST: - raise ValueError(f"{prop!r} may not be set from a protocol (allowlist: {sorted(SET_ALLOWLIST)})") - if isinstance(value, (dict, list)): - raise ValueError(f"{prop}: only scalar values may be set") - value = coerce_scalar(value) - actual, rtt = self.cli.set(prop, value) - steps.append({"command": "set", "property": prop, "value": value, "ok": True, "actual": actual, "rtt_ms": rtt}) - return actual - - def _acq_state(self, steps: list | None = None) -> str: - v, rtt = self.cli.get("hSI.acqState") - if steps is not None: - steps.append({"command": "get", "property": "hSI.acqState", "ok": True, "value": v, "rtt_ms": rtt}) - return str(v) - - def _wait_state(self, want, timeout_s: float, steps: list) -> str: - """Poll acqState every poll_s until it is in `want` (a set) or timeout_s elapses. Returns - the last state. Polling, not blocking: each poll is one ~2 ms request (LAB-305: polling - the JSON server at 1–20 Hz did not disturb frame timing).""" - end = time.monotonic() + timeout_s - polls = 0 - while True: - st = self._acq_state() - polls += 1 - if st in want or time.monotonic() >= end: - steps.append({"command": "poll", "property": "hSI.acqState", "ok": st in want, "value": st, "polls": polls}) - return st - time.sleep(self.poll_s) - - def _run(self, command: str, params: dict, steps: list): - if command == "ping": - st = self._acq_state(steps) - return {"acqState": st} - if command == "status": - return self._snapshot(steps) - if command == "get": - return self._get(params.get("property", ""), steps) - if command == "set": - if "property" not in params or "value" not in params: - raise ValueError("set needs params.property and params.value") - return self._set(params["property"], params["value"], steps) - if command == "setFileStem": - stem = str(params.get("stem") or params.get("filename") or "").strip() - if not stem: - raise ValueError("setFileStem needs params.stem") - actual = self._set("hSI.hScan2D.logFileStem", stem, steps) - return {"logFileStem": actual, "logFileCounter": self._get("hSI.hScan2D.logFileCounter", steps)} - if command == "grab": - before = self._acq_state(steps) - if before != "idle": - raise SiError(f"cannot start a grab while acqState is '{before}' (abort first)") - stem = self._get("hSI.hScan2D.logFileStem", steps) - path = self._get("hSI.hScan2D.logFilePath", steps) - counter = self._get("hSI.hScan2D.logFileCounter", steps) - rtt = self.cli.eval(EVAL_GRAB, self.cli.slow_timeout_s) - steps.append({"command": "eval", "function": EVAL_GRAB, "ok": True, "rtt_ms": rtt}) - # Confirm: ScanImage's startGrab is synchronous, so 'grab' should be immediate; allow - # a short window (a busy GUI thread) before calling the outcome an error. - st = self._wait_state({"grab", "loop"}, min(5.0, self.cli.slow_timeout_s), steps) - if st not in ("grab", "loop"): - raise SiError(f"startGrab returned but acqState is '{st}'") - return {"acqState": st, "logFileStem": stem, "logFilePath": path, "logFileCounter": counter, "start_rtt_ms": rtt} - if command == "waitIdle": - to = params.get("timeout_s", self.default_wait_s) - try: - to = float(to) - except (TypeError, ValueError): - raise ValueError(f"waitIdle: timeout_s must be a number, got {to!r}") - t0 = time.monotonic() - st = self._wait_state({"idle"}, to, steps) - waited = round(time.monotonic() - t0, 3) - if st != "idle": - raise SiError(f"still '{st}' after {waited:g} s (timeout_s {to:g}); use abort") - # lastFrameNumber is informational: on the Bergamo (2026.0.0) it throws "Index exceeds - # array bounds" even right after a grab, so it must not turn a reached idle into an error. - try: - last = self._get("hSI.hDisplay.lastFrameNumber", steps) - except SiError as exc: - last = None - steps.append({"command": "get", "property": "hSI.hDisplay.lastFrameNumber", "ok": False, - "error": str(exc).splitlines()[0]}) - return {"acqState": st, "waited_s": waited, "lastFrameNumber": last, - "logFileCounter": self._get("hSI.hScan2D.logFileCounter", steps)} - if command == "abort": - rtt = self.cli.eval(EVAL_ABORT, self.cli.slow_timeout_s) - steps.append({"command": "eval", "function": EVAL_ABORT, "ok": True, "rtt_ms": rtt}) - st = self._wait_state({"idle"}, min(5.0, self.cli.slow_timeout_s), steps) - if st != "idle": - raise SiError(f"abort returned but acqState is '{st}'") - return {"acqState": st} - raise ValueError(f"unhandled command {command!r}") - - -def main(argv: list[str] | None = None) -> int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1", help="ScanImage JSON server host (default: 127.0.0.1 — keep it local; the server binds all interfaces)") - p.add_argument("--port", type=int, default=5555, help="ScanImage JSON server port (default: 5555)") - p.add_argument("--timeout-s", type=float, default=2.0, help="per-request timeout; a timeout is an UNKNOWN outcome and drops the connection (default: 2)") - p.add_argument("--slow-timeout-s", type=float, default=15.0, help="timeout for grab/abort (ScanImage's startGrab is synchronous, 1.2–2.4 s on the Bergamo PC; default: 15)") - p.add_argument("--status-every", type=float, default=1.0, help="status poll period in s; 0 = off (default: 1 — six ~2 ms gets)") - p.add_argument("--poll-s", type=float, default=0.25, help="acqState poll period inside grab/waitIdle/abort (default: 0.25)") - p.add_argument("--wait-s", type=float, default=30.0, help="waitIdle default timeout_s when the command carries none (default: 30)") - args, ros_args = p.parse_known_args(argv) - raise_timer_resolution() - rclpy.init(args=ros_args) - node = ScanImageNode(JsonClient(args.host, args.port, args.timeout_s, args.slow_timeout_s), args.status_every, args.poll_s, args.wait_s) - spin(node) - print(f"[scanimage-node] {node.commands} commands handled, {node.cli.reconnects} reconnects", file=sys.stderr) - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/nodes/viz_node.py b/rig/nodes/viz_node.py index b1a10ea4..fbd49b65 100644 --- a/rig/nodes/viz_node.py +++ b/rig/nodes/viz_node.py @@ -55,7 +55,7 @@ from std_msgs.msg import Bool, ColorRGBA, Float64, String from visualization_msgs.msg import Marker, MarkerArray -from _common import RELIABLE_QOS, spin +from rig_nodes._common import RELIABLE_QOS, spin BALL_R = 1.0 ARENA_R = 3.2 diff --git a/rig/pixi.lock b/rig/pixi.lock index ee5dd2ce..f8689eed 100644 --- a/rig/pixi.lock +++ b/rig/pixi.lock @@ -8,6 +8,7 @@ environments: channels: - url: https://conda.anaconda.org/conda-forge/ - url: https://conda.anaconda.org/robostack-jazzy/ + - url: https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel/ packages: linux-64: - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda @@ -17,7 +18,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.9-hebe6cf0_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda @@ -43,7 +44,7 @@ environments: - 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- conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.8.5-hd2095e1_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.9.0-hd2095e1_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.7.0-h81df57d_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype-2.14.3-ha770c72_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype6-2.14.3-h5e6c136_2.conda @@ -78,8 +79,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/libglx-1.7.0-ha4b6fd6_5.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libglx-devel-1.7.0-ha4b6fd6_5.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-14.6.0-h23af247_2.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-devel-14.6.0-h23af247_2.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-15.0.0-h23af247_0.conda + - 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conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.54.1-h34a968b_101.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_3.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.6-he64c551_1.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/openssl-3.6.5-h55eecbc_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.12.16-hd05a0c4_0_cpython.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/readline-8.3-h8b90a29_1.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-hbeba79b_4.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/uv-0.13.6-hbb8eed7_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hf451053_7.conda +- conda_source: rig_nodes[d35d99f3] @ git+https://github.com/reiserlab/rig-nodes?subdirectory=src%2Frig_nodes&branch=main#75b99867f253b4b8f0fe90e2214ff9d9835cb6fc + version: 0.2.1 + build: pyh4616a5c_0 + subdir: noarch + noarch: python + variants: + target_platform: noarch + depends: + - python >=3.12 + - python * + - ros-jazzy-rclpy + - ros-jazzy-std-msgs + - ros-jazzy-rosbag2-py + - ros-jazzy-rosbag2-storage-mcap + - ros-jazzy-rosidl-runtime-py + - ros2-distro-mutex 0.19.* + - mcap >=1.2 + - websockets >=12 + license: MIT + host_packages: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_103.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.9.0-hd2095e1_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.7.0-h81df57d_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-16.2.0-ha9f2e26_7.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libpython-3.12.16-ha57cdbe_0_cpython.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.1-h0737f62_101.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-16.2.0-h934c35e_7.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.42.4-hcfc3c73_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcrypt-4.4.38-h280c20c_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_3.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.6.5-h781a0a9_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.16-h5f976f7_0_cpython.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.3-hd6e31c0_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h1df4ec4_4.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.13.6-h535ca38_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/editables-0.6-pyhcf101f3_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/hatchling-1.32.4-pyh5ded981_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-1.1.1-pyhd8ed1ab_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.15.2-pyh5ded981_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/trove-classifiers-2026.9.21.13-pyh5ded981_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda diff --git a/rig/pixi.toml b/rig/pixi.toml index 587d871a..b0d29a02 100644 --- a/rig/pixi.toml +++ b/rig/pixi.toml @@ -1,107 +1,126 @@ -# rig — the ROS 2 bridge graph (LAB-303). Renamed from `ros2-poc/` on 2026-10-26 -# (docs/development/rig-software-repos-and-runners.md §3.2 / §7.12). +# rig — the ARENA rig's ROS 2 workspace (LAB-303): the Studio gateway, the arena composition and the +# arena visualization, on top of the shared rig-nodes package set. Renamed from `ros2-poc/` on +# 2026-10-26; the shared part (interfaces, device adapters + simulators, recorder, supervision, +# benches) moved to reiserlab/rig-nodes the same day (docs/development/rig-software-repos-and-runners.md +# §3.3, LAB-338) and is INSTALLED here as the `rig_nodes` (+ optional `rig_interfaces`) packages. # # A SEPARATE pixi workspace from the repo root one on purpose: the root `pixi.toml` # (bridge 3.4, tests, release tooling) stays untouched, and the two environments -# live side by side on a rig PC — `pixi run bridge` at the root is the shipping -# bridge, `pixi run rig` here is the PoC graph. +# live side by side on a rig PC — `pixi run bridge` at the root is the legacy +# bridge, `pixi run rig` here is the graph. # -# pixi install # RoboStack Jazzy (ros-base) + rmw_zenoh + our Python deps +# pixi install # RoboStack Jazzy (ros-base) + rmw_zenoh + rosbag2/MCAP + rig_nodes (from the rig-nodes channel) # pixi run rig # Zenoh router + fictrac adapter + bridge node (one command) +# pixi install -e typed # + rig_interfaces: typed /fictrac/frame + /arena/frame (same solve group, one RoboStack set) +# pixi install -e dev # rig-nodes `main` (git source, pinned in pixi.lock) built from source instead of the channel # -# Channels: RoboStack publishes ROS 2 as conda packages; conda-forge first so the -# non-ROS stack (python, websockets, pyzmq) resolves from there. Bare channel names -# resolve through pixi's default channel alias (conda.anaconda.org), which is what -# a lab network with an allowlisting proxy is most likely to permit. +# Channels: RoboStack publishes ROS 2 as conda packages; conda-forge first so the non-ROS stack +# (python, websockets, pyzmq) resolves from there. Bare channel names resolve through pixi's +# default channel alias (conda.anaconda.org), which is what a lab network with an allowlisting +# proxy is most likely to permit. The rig-nodes channel is read over raw.githubusercontent.com +# pinned to a RELEASE TAG of that repository (its channel/ directory holds the payload on the +# tagged commit only; git history serves the URL). [workspace] name = "rig" version = "0.1.0" -channels = ["conda-forge", "robostack-jazzy"] +channels = ["conda-forge", "robostack-jazzy", "https://raw.githubusercontent.com/reiserlab/rig-nodes/v0.2.1/channel"] platforms = ["osx-arm64", "win-64", "linux-64"] -# pixi-build (preview): `pixi install` builds interfaces/rig_interfaces (our .msg types) as a -# conda package with the RoboStack pixi-build-ros backend. On Windows that build needs the MSVC -# v143 toolset and a short build path (docs/typed-windows.md — the cost LAB-303 Plan B records); -# everything else is downloaded as before. preview = ["pixi-build"] +# rmw_zenoh ≥ 0.2.11 (the RoboStack 0.19 set) is built for macOS ≥ 14; without this floor the +# osx-arm64 solve falls back to the 0.16 set and the platforms drift apart (rig-nodes pins 0.19). +[system-requirements] +macos = "14.0" + [activation.env] # Every ROS 2 process in this workspace uses the Zenoh middleware. rmw_zenoh needs # ONE router per host (`pixi run router`); nodes keep retrying until it is up. RMW_IMPLEMENTATION = "rmw_zenoh_cpp" ZENOH_ROUTER_CHECK_ATTEMPTS = "0" -# Loopback-only Zenoh: the stock rmw_zenoh configs listen on `tcp/[::]:7447` (fails on a -# host without IPv6) and connect to `tcp/localhost:7447`. Ours bind/connect 127.0.0.1 — -# a rig PC's graph is not reachable from the lab network. Stock files with ONLY the two -# endpoint lines changed (diff them against share/rmw_zenoh_cpp/config/ in the env). -ZENOH_ROUTER_CONFIG_URI = "$PIXI_PROJECT_ROOT/config/zenoh-router.json5" -ZENOH_SESSION_CONFIG_URI = "$PIXI_PROJECT_ROOT/config/zenoh-session.json5" +# Loopback-only Zenoh: the stock rmw_zenoh configs listen on `tcp/[::]:7447` (fails on a host +# without IPv6) and connect to `tcp/localhost:7447`; the rig-nodes configs bind/connect 127.0.0.1 — +# a rig PC's graph is not reachable from the lab network. The two json5 files ship INSIDE the +# installed rig_nodes package (rig_nodes/zenoh.py applies them as defaults to every node that +# imports rig_nodes._common, and rig.py sets them for its children); these lines only make +# `ros2 topic echo` and friends in this workspace use them too. Python is pinned to 3.12, so the +# site-packages path is stable. +ZENOH_ROUTER_CONFIG_URI = "$CONDA_PREFIX/lib/python3.12/site-packages/rig_nodes/config/zenoh-router.json5" +ZENOH_SESSION_CONFIG_URI = "$CONDA_PREFIX/lib/python3.12/site-packages/rig_nodes/config/zenoh-session.json5" # Same reason as the root workspace: the adapters print non-ASCII to stderr and # Python on Windows would pick cp1252 when stdio is a pipe. PYTHONUTF8 = "1" -# Windows: pixi builds the activation as a cmd.exe script, so `$PIXI_PROJECT_ROOT` above stays -# literal there (rmw_zenohd: `Failed to read config from $PIXI_PROJECT_ROOT/config/…`, ww18 -# 2026-10-15) while `%PIXI_PROJECT_ROOT%` expands under `pixi run`. These keys override the two -# above on win-64 only. +# Windows: pixi builds the activation as a cmd.exe script, so `$CONDA_PREFIX` above stays +# literal there while `%CONDA_PREFIX%` expands under `pixi run` (ww18 2026-10-15, for +# `$PIXI_PROJECT_ROOT`). These keys override the two above on win-64 only. [target.win-64.activation.env] -ZENOH_ROUTER_CONFIG_URI = '%PIXI_PROJECT_ROOT%\config\zenoh-router.json5' -ZENOH_SESSION_CONFIG_URI = '%PIXI_PROJECT_ROOT%\config\zenoh-session.json5' +ZENOH_ROUTER_CONFIG_URI = '%CONDA_PREFIX%\Lib\site-packages\rig_nodes\config\zenoh-router.json5' +ZENOH_SESSION_CONFIG_URI = '%CONDA_PREFIX%\Lib\site-packages\rig_nodes\config\zenoh-session.json5' [dependencies] +# ── ONE RoboStack set, pinned (2026-10-26): the set the rig-nodes packages were built against ── +# The mutex decides which RoboStack Jazzy rebuild every ros-jazzy-* package comes from. 0.19 + +# Python 3.12 is what the rigs run; rig_nodes / rig_interfaces pin the same, so a rig gets one set. +ros2-distro-mutex = "0.19.*" +python = "3.12.*" ros-jazzy-ros-base = "*" ros-jazzy-rmw-zenoh-cpp = "*" # The canonical talker/listener smoke test (`ros2 run demo_nodes_py …`); not part of ros-base. ros-jazzy-demo-nodes-py = "*" -python = "*" websockets = ">=12" pyzmq = "*" -# ── Plan B spike (LAB-303): MCAP as the record of truth ───────────────────── -# rosbag2's Python API + the MCAP storage plugin record every topic per run -# (nodes/recorder.py); the pure-Python `mcap` reader converts a bag — or a -# crash-truncated one — back to the behavior_v2 NDJSON (nodes/mcap_convert.py) -# without needing a ROS process. +# ── MCAP as the record of truth (LAB-303 Plan B) ───────────────────────────── +# rosbag2's Python API + the MCAP storage plugin record every topic per run (rig_nodes.recorder, +# driven by nodes/bridge_node.py); the pure-Python `mcap` reader converts a bag — or a +# crash-truncated one — back to the behavior_v2 NDJSON (nodes/mcap_convert.py) without a ROS process. ros-jazzy-rosbag2-py = "*" ros-jazzy-rosbag2-storage-mcap = "*" mcap = ">=1.2" +# ── the shared rig-nodes package set, pinned (one version for the set; README "Releasing") ── +# Device adapters (FicTrac, Kinefly, BIAS, ScanImage) and their simulators, the MCAP recorder and +# indexer, the CDR decoder, the Foxglove rewriter, the supervision primitives rig.py composes with. +# Written into every run's record by the gateway (hello_ack + /arena/session `packages`). +rig_nodes = "==0.2.1" -# ── typed messages = the OPT-IN `typed` environment ─────────────────────────── -# `pixi install -e typed` builds interfaces/rig_interfaces (FicTracFrame, ArenaFrame, -# ConnectorReply) from source with the RoboStack pixi-build-ros backend and brings the -# ament/rosidl toolchain. rosidl generates C typesupport + a Python C extension, so this -# needs a C/C++ compiler on the installing machine (Windows: the MSVC v143 toolset, which pixi -# cannot install, plus `pixi config set --local detached-environments C:\px` for MAX_PATH; -# docs/typed-windows.md also tests the no-compiler alternative, a CI-built channel) — kept OUT of -# the default environment so a rig PC can always `pixi install` and -# run the graph with String topics (the nodes fall back on their own, `--typed auto`). -# The build cost is the LAB-303 data point: `pixi run -e typed test` and README.md. +# ── typed messages = the OPT-IN `typed` environment ─────────────────────────────────────── +# `pixi install -e typed` adds rig_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) from the +# SAME channel, built in rig-nodes' CI for win-64 / osx-arm64 / linux-64 — no compiler, no build +# backend, no MAX_PATH (docs in rig-nodes: docs/typed-distribution-decision.md). Same solve group +# as the default environment: since the package pins the 0.19 set too, the two environments share +# one RoboStack set (the 0.2.0 build did not — rig-nodes channel/README.md). Kept OUT of the default +# environment so the rigs keep recording String topics until typed recording is decided for them; +# the nodes fall back on their own (`--typed auto`). [feature.typed.dependencies] -rig_interfaces = { path = "interfaces/rig_interfaces" } +rig_interfaces = "==0.2.1" + +# ── developer path: rig-nodes `main`, built from source (git source dependencies) ──────────── +# `pixi install -e dev` swaps the two channel pins for the HEAD of reiserlab/rig-nodes `main`, +# built with pixi-build from a git checkout and pinned to ONE commit in pixi.lock +# (`pixi update -e dev rig_nodes rig_interfaces` moves it), so a node fix merged in rig-nodes is +# tested here before a package-set release (rig-software-repos-and-runners.md §7 item 6). +# NOT path dependencies on a sibling checkout (as until 2026-10-27): pixi validates every +# environment's source PATHS before installing ANY environment, so a missing `../../rig-nodes` +# broke `pixi install` on every rig PC. Git sources are only fetched when `dev` itself is +# installed — the default/typed environments install offline with no git cache (verified +# 2026-10-27, pixi 0.69). To test an UNPUSHED rig-nodes change, point the two lines below at your +# checkout — `{ path = "../../rig-nodes/src/rig_nodes" }` / `{ … /src/rig_interfaces" }` — and do +# not commit that manifest/lock change. Cache gotcha: a source build of the SAME version as the +# release lands in pixi's package cache under the release's filename (an editable path build is a +# 25-file stub) and shadows a later channel install on that machine — remove the +# `rig_nodes--*` entry under `pixi info`'s cache dir, or build a version main has bumped past +# the tag. Builds both packages in place, so it needs the rosidl toolchain and a C/C++ compiler +# like the rig-nodes workspace itself. Own solve group: the default/typed locks are untouched. +[feature.dev.dependencies] +rig_nodes = { git = "https://github.com/reiserlab/rig-nodes", branch = "main", subdirectory = "src/rig_nodes" } +rig_interfaces = { git = "https://github.com/reiserlab/rig-nodes", branch = "main", subdirectory = "src/rig_interfaces" } ros-jazzy-ament-cmake = "*" ros-jazzy-rosidl-default-generators = "*" ros-jazzy-rosidl-default-runtime = "*" ros-jazzy-ros-environment = "*" -colcon-common-extensions = "*" cmake = "*" ninja = "*" cxx-compiler = "*" -# ── typed messages WITHOUT a compiler = the OPT-IN `typed-prebuilt` environment ────────── -# "Build once, publish to a channel" (docs/typed-distribution-decision.md): `pixi install -e -# typed-prebuilt` downloads rig_interfaces 0.2.0 like any RoboStack package: no MSVC, no build -# backend, no MAX_PATH. The channel is built by .github/workflows/rig-interfaces.yml (win-64, -# osx-arm64, linux-64; channel/README.md lists the files and sha256s) and read over -# raw.githubusercontent.com pinned to the payload commit — git history serves it, the tree holds -# only channel/README.md (a relative `./channel` would be written into pixi.lock as this machine's -# absolute path). Its own solve group, so the other environments' locks are untouched; the CI -# packages pin the ros2-distro-mutex their runner resolved (channel/README.md), not the poc -# group's, so this group resolves its own RoboStack set per platform. -[feature.typed-prebuilt] -platforms = ["win-64", "osx-arm64", "linux-64"] -channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel"] - -[feature.typed-prebuilt.dependencies] -rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel" } - # ── seeing the graph = the OPT-IN `viz` environment ────────────────────────── # `pixi install -e viz`: rqt_graph (live node/topic graph, Qt), rqt_topic / rqt_console, and # foxglove_bridge (Foxglove Studio connects to ws://localhost:8766 for live plots; Foxglove @@ -114,38 +133,39 @@ ros-jazzy-rqt-console = "*" ros-jazzy-foxglove-bridge = "*" [environments] -default = { solve-group = "poc" } -typed = { features = ["typed"], solve-group = "poc" } -viz = { features = ["viz"], solve-group = "poc" } -typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" } +default = { solve-group = "rig" } +typed = { features = ["typed"], solve-group = "rig" } +viz = { features = ["viz"], solve-group = "rig" } +dev = { features = ["dev", "typed"], solve-group = "dev" } [tasks] # ── hour one: middleware bring-up ─────────────────────────────────────────── -router = "ros2 run rmw_zenoh_cpp rmw_zenohd" +router = "rig-router" talker = "ros2 run demo_nodes_py talker" listener = "ros2 run demo_nodes_py listener" -# ── adapters (device programs → ROS topics; no custom message types) ──────── -fictrac-adapter = "python nodes/fictrac_udp_adapter.py" -kinefly-adapter = "python nodes/kinefly_udp_adapter.py" -bias-node = "python nodes/bias_node.py" -bias-cmd = "python nodes/bias_cmd.py" +# ── device adapters + command tools (rig_nodes console scripts) ───────────── +fictrac-adapter = "rig-fictrac-adapter" +kinefly-adapter = "rig-kinefly-adapter" +bias-node = "rig-bias-node" +bias-cmd = "rig-bias-cmd" # ScanImage (built-in JSON server on the ScanImage PC, LAB-303/LAB-306): node + one-shot command. -scanimage-node = "python nodes/scanimage_node.py" -scanimage-cmd = "python nodes/scanimage_cmd.py" -# ── the bridge node: bridge.py's hub + log writer + dispatcher on ROS input ── +scanimage-node = "rig-scanimage-node" +scanimage-cmd = "rig-scanimage-cmd" +# ── the bridge node (this rig's gateway): bridge.py's hub + log writer + dispatcher on ROS input ── bridge-node = "python nodes/bridge_node.py" -# ── simulators (the root workspace's fictrac_sim.py, unmodified) ──────────── -sim = "python ../fictrac-bridge/fictrac_sim.py" -kinefly-sim = "python nodes/kinefly_sim.py" -bias-sim = "python nodes/bias_sim.py" +# ── simulators (rig_nodes.sims) ──────────────────────────────────────────── +sim = "rig-fictrac-sim" +kinefly-sim = "rig-kinefly-sim" +bias-sim = "rig-bias-sim" # A stand-in for ScanImage's JSON server (stock behaviors incl. bug B2) for off-rig tests. -si-mock = "python tests/si_json_mock.py" +si-mock = "rig-si-mock" # ── the one command a rig runs ────────────────────────────────────────────── rig = "python nodes/rig.py" # ── acceptance test (LAB-303 PoC criteria): whole graph + Studio emulator + model fly ── +# This is also the cross-repository smoke for the installed rig-nodes package set (record §7.8). test = "python tests/test_ros2_poc.py" studio-emulator = "python tests/studio_emulator.py" -# ── Plan B spike: MCAP record + converter + typed interfaces ────────────────── +# ── MCAP record + converter ────────────────────────────────────────────────── # bag → behavior_v2 NDJSON (also `-- --level behavior_v1|full`, `-- --order time`); # reads a crash-truncated bag too (`-- --recover`). convert = "python nodes/mcap_convert.py" @@ -155,18 +175,14 @@ convert = "python nodes/mcap_convert.py" export = "python nodes/export_log.py" # Rewrite a finished bag indexed + zstd-compressed (the bridge does this itself when a run # closes cleanly; use it on a bag recorded before that, or after `--recover`). -reindex = "python nodes/mcap_index.py" -# Bag-size study of the FicTrac record (docs/development/fictrac-columns-in-the-bag.md): a bag vs its -# jsonl.gz under the final layout and the alternatives that were measured and declined. -size-columns = "python sizing/columns.py" -# Build interfaces/rig_interfaces with colcon inside the `typed` env (the alternative to -# the pixi-build route); timed and recorded in README.md → "Plan B spike". -build-interfaces = "python nodes/build_interfaces.py" +reindex = "rig-reindex" +# Is the typed package usable in THIS environment (imports AND serializes)? +check-typed = "python -m rig_nodes.build_interfaces --check" # ── seeing the graph ───────────────────────────────────────────────────────── # The live graph as Mermaid (default), DOT (`-- --dot`) or a table with rates (`-- --text`); # works in every environment while `pixi run rig` is up. -graph = "python nodes/graph_dump.py" -# Foxglove dashboards: the typed republisher (plots/3D markers from the JSON streams; `pixi run rig -- --foxglove` starts it with foxglove_bridge), its unit test, and the offline String-bag → plottable-MCAP converter +graph = "rig-graph" +# Foxglove dashboards: the typed republisher (plots/3D markers from the JSON streams; `pixi run rig -- --foxglove` starts it with foxglove_bridge), its unit test, and the offline String-bag → plottable-MCAP converter with the arena derivations viz = "python nodes/viz_node.py" test-viz = "python tests/test_viz_node.py" fox-json = "python nodes/foxglove_json.py" diff --git a/rig/shm_bench.py b/rig/shm_bench.py deleted file mode 100644 index 559ad6a7..00000000 --- a/rig/shm_bench.py +++ /dev/null @@ -1,403 +0,0 @@ -#!/usr/bin/env python3 -"""shm_bench.py — rmw_zenoh shared memory on vs off, for image-sized ROS 2 messages (LAB-303). - -One publisher process and one subscriber process exchange sensor_msgs/Image messages of a fixed -size at a fixed rate. Latency is publish-call → subscriber callback, both stamped with -time.monotonic_ns() (one system-wide clock on macOS, Linux and Windows), so it includes rclpy's -Python→C conversion, CDR serialization, the transport, deserialization and callback dispatch. - - pixi run python shm_bench.py run # the default matrix, shm off then on - pixi run python shm_bench.py run --sizes 1048576 --rates 30 --modes on --duration 5 - pixi run python shm_bench.py run --out results.json - -`run` starts its own Zenoh router on --port (default 7457, not the rig's 7447) and a separate -ROS_DOMAIN_ID, so it never touches a running rig. Shared memory is switched with rmw_zenoh's -ZENOH_CONFIG_OVERRIDE (transport/shared_memory/enabled) on both sessions; the pool size can be -raised with --pool-mb (rmw_zenoh's ZENOH_SHM_ALLOC_SIZE, default 48 MiB). After its measured -window each process reports how much shared memory it has mapped (macOS: vmmap; Linux: /dev/shm; -Windows: committed MEM_MAPPED regions): the direct evidence that the Zenoh pool was used. With -shared memory on, it is about 48 MB higher than with it off. -""" - -from __future__ import annotations - -import argparse -import json -import os -import platform -import shutil -import socket -import statistics -import subprocess -import sys -import time - -TOPIC = "/bench/image" - - -# ── the two ROS processes ────────────────────────────────────────────────────────────────────── - - -def _qos(args): - from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy - - return QoSProfile( - history=HistoryPolicy.KEEP_LAST, - depth=args.depth, - reliability=ReliabilityPolicy.RELIABLE if args.reliable else ReliabilityPolicy.BEST_EFFORT, - ) - - -def cmd_pub(args): - import rclpy - from sensor_msgs.msg import Image - - rclpy.init() - node = rclpy.create_node("shm_bench_pub") - pub = node.create_publisher(Image, TOPIC, _qos(args)) - msg = Image() - msg.height, msg.width, msg.step, msg.encoding = 1, args.size, args.size, "mono8" - msg.data = os.urandom(args.size) # incompressible, built once - - t_wait = time.monotonic() - while pub.get_subscription_count() == 0: - if time.monotonic() - t_wait > 15: - print(json.dumps({"role": "pub", "error": "no subscriber after 15 s"}), flush=True) - return 1 - rclpy.spin_once(node, timeout_sec=0.05) - time.sleep(0.5) - - warm = max(1, int(args.rate * args.warmup)) - n = max(1, int(args.rate * args.duration)) - period = 1.0 / args.rate - call_ns = [] - next_t = time.monotonic() - cpu0 = wall0 = None - for i in range(warm + n): - dt = next_t - time.monotonic() - if dt > 0: - time.sleep(dt) - if i == warm: - cpu0, wall0 = time.process_time(), time.monotonic() - msg.header.frame_id = f"w{i}" if i < warm else f"m{i - warm}" - t = time.monotonic_ns() - msg.header.stamp.sec, msg.header.stamp.nanosec = divmod(t, 1_000_000_000) - pub.publish(msg) - if i >= warm: - call_ns.append(time.monotonic_ns() - t) - next_t += period - cpu1, wall1 = time.process_time(), time.monotonic() - msg.header.frame_id = "end" - for _ in range(3): - pub.publish(msg) - time.sleep(0.05) - print( - json.dumps( - { - "role": "pub", - "sent": n, - "rate_hz": n / (wall1 - wall0), - "cpu_pct": 100 * (cpu1 - cpu0) / (wall1 - wall0), - "publish_call_ms_p50": statistics.median(call_ns) / 1e6, - "publish_call_ms_p99": _pct(call_ns, 99) / 1e6, - "shm_mapped": _shm_mapped(), - } - ), - flush=True, - ) - time.sleep(0.3) - node.destroy_node() - rclpy.shutdown() - return 0 - - -def cmd_sub(args): - import rclpy - from sensor_msgs.msg import Image - - rclpy.init() - node = rclpy.create_node("shm_bench_sub") - st = {"lat": [], "seqs": [], "bad": 0, "cpu0": None, "wall0": None, "done": False} - - def cb(msg): - now = time.monotonic_ns() - fid = msg.header.frame_id - if fid == "end": - st["done"] = True - return - if fid[0] != "m": - return - if st["cpu0"] is None: - st["cpu0"], st["wall0"] = time.process_time(), time.monotonic() - if len(msg.data) != args.size: - st["bad"] += 1 - st["lat"].append(now - (msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec)) - st["seqs"].append(int(fid[1:])) - - node.create_subscription(Image, TOPIC, cb, _qos(args)) - print("READY", flush=True) - deadline = time.monotonic() + args.warmup + args.duration + 30 - while not st["done"] and time.monotonic() < deadline: - rclpy.spin_once(node, timeout_sec=0.1) - cpu1, wall1 = time.process_time(), time.monotonic() - lat = st["lat"] - out = {"role": "sub", "received": len(lat), "bad_size": st["bad"], "timed_out": not st["done"]} - if lat: - seqs = st["seqs"] - out.update( - { - "lost": (max(seqs) + 1) - len(set(seqs)), - "lat_ms_p50": statistics.median(lat) / 1e6, - "lat_ms_p95": _pct(lat, 95) / 1e6, - "lat_ms_p99": _pct(lat, 99) / 1e6, - "lat_ms_max": max(lat) / 1e6, - "cpu_pct": 100 * (cpu1 - st["cpu0"]) / max(1e-9, wall1 - st["wall0"]), - } - ) - out["shm_mapped"] = _shm_mapped() - print(json.dumps(out), flush=True) - node.destroy_node() - rclpy.shutdown() - return 0 - - -def _shm_mapped(): - """Shared memory this process has mapped — the direct evidence that the Zenoh pool is in use. - - Called only AFTER the measured window: macOS `vmmap` suspends the process it inspects. - macOS: vmmap's "shared memory" virtual size (about 48 kB without the pool, 49 MB with the - default 48 MiB pool). Linux: the /dev/shm mappings. Windows: committed MEM_MAPPED regions. - Anything else: None (not measured).""" - try: - if sys.platform == "darwin": - out = subprocess.run( - ["vmmap", "-summary", str(os.getpid())], capture_output=True, text=True, timeout=20 - ).stdout - for ln in out.splitlines(): - if ln.startswith("shared memory"): - return ln.split()[2] - elif sys.platform.startswith("linux"): - total = 0 - with open("/proc/self/maps") as f: - for ln in f: - if "/dev/shm/" in ln: - a, b = ln.split()[0].split("-") - total += int(b, 16) - int(a, 16) - return f"{total / (1 << 20):.1f}M" - elif sys.platform == "win32": - # Committed MEM_MAPPED regions (section views: the Zenoh pool, plus a few MB of other - # mapped files). Compare off vs on: the pool shows up as a ~48 MB step. - import ctypes - from ctypes import wintypes - - class MBI(ctypes.Structure): - _fields_ = [ - ("BaseAddress", ctypes.c_void_p), - ("AllocationBase", ctypes.c_void_p), - ("AllocationProtect", wintypes.DWORD), - ("PartitionId", wintypes.WORD), - ("RegionSize", ctypes.c_size_t), - ("State", wintypes.DWORD), - ("Protect", wintypes.DWORD), - ("Type", wintypes.DWORD), - ] - - k32 = ctypes.WinDLL("kernel32", use_last_error=True) - k32.VirtualQuery.argtypes = [ctypes.c_void_p, ctypes.POINTER(MBI), ctypes.c_size_t] - k32.VirtualQuery.restype = ctypes.c_size_t - mbi, addr, total = MBI(), 0, 0 - while addr < (1 << 47) and k32.VirtualQuery(addr, ctypes.byref(mbi), ctypes.sizeof(mbi)): - if mbi.State == 0x1000 and mbi.Type == 0x40000: # MEM_COMMIT, MEM_MAPPED - total += mbi.RegionSize - addr = (mbi.BaseAddress or 0) + mbi.RegionSize - return f"{total / (1 << 20):.1f}M" - except Exception: - pass - return None - - -def _pct(xs, p): - s = sorted(xs) - return s[min(len(s) - 1, int(round(p / 100 * (len(s) - 1))))] - - -# ── the orchestrator ────────────────────────────────────────────────────────────────────────── - - -def _port_open(port): - with socket.socket() as s: - s.settimeout(0.2) - return s.connect_ex(("127.0.0.1", port)) == 0 - - -def _router_argv(): - """The rmw_zenohd binary itself, so terminate() stops the router and not just a wrapper - (`ros2` is a launcher script on Windows). Falls back to `ros2 run`.""" - try: - from ament_index_python.packages import get_package_prefix - - libdir = os.path.join(get_package_prefix("rmw_zenoh_cpp"), "lib", "rmw_zenoh_cpp") - for name in ("rmw_zenohd.exe", "rmw_zenohd"): - exe = os.path.join(libdir, name) - if os.path.isfile(exe): - return [exe] - except Exception: - pass - return [shutil.which("ros2") or "ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"] - - -def _human(n): - for unit, k in (("MB", 1 << 20), ("kB", 1 << 10)): - if n >= k: - v = n / k - return f"{v:g} {unit}" - return f"{n} B" - - -def cmd_run(args): - me = os.path.abspath(__file__) - base = dict(os.environ) - base["ROS_DOMAIN_ID"] = str(args.domain) - base["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp" - base.setdefault("RUST_LOG", "error") # silence zenoh_config deprecation warnings - endpoint = f'["tcp/127.0.0.1:{args.port}"]' - - router = None - if not _port_open(args.port): - renv = dict(base, ZENOH_CONFIG_OVERRIDE=f"listen/endpoints={endpoint}") - router = subprocess.Popen( - _router_argv(), env=renv, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL - ) - t0 = time.monotonic() - while not _port_open(args.port): - if time.monotonic() - t0 > 20: - sys.exit(f"router did not come up on :{args.port}") - time.sleep(0.2) - - sizes = [int(s) for s in args.sizes.split(",")] - rates = [float(r) for r in args.rates.split(",")] - if len(rates) == 1: - rates *= len(sizes) - if len(rates) != len(sizes): - sys.exit("--rates must be one value or one per size") - - common = [ - "--depth", str(args.depth), - "--duration", str(args.duration), - "--warmup", str(args.warmup), - ] + (["--reliable"] if args.reliable else []) - - results = [] - try: - for mode in args.modes.split(","): - override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}" - env = dict(base, ZENOH_CONFIG_OVERRIDE=override) - if args.pool_mb: - env["ZENOH_SHM_ALLOC_SIZE"] = str(int(args.pool_mb * (1 << 20))) - for size, rate in zip(sizes, rates): - argv = common + ["--size", str(size), "--rate", str(rate)] - sub = subprocess.Popen( - [sys.executable, me, "sub"] + argv, env=env, stdout=subprocess.PIPE, text=True - ) - for _ in range(200): # rmw/zenoh may log to stdout before the marker - line = sub.stdout.readline() - if not line or line.strip() == "READY": - break - print(f" [sub] {line.rstrip()}", file=sys.stderr) - if not line: - sys.exit("subscriber did not start") - pub = subprocess.Popen( - [sys.executable, me, "pub"] + argv, env=env, stdout=subprocess.PIPE, text=True - ) - pout, _ = pub.communicate(timeout=args.duration + 60) - sout, _ = sub.communicate(timeout=60) - row = {"mode": mode, "size": size, "rate": rate} - for line in (pout + sout).splitlines(): - if line.startswith("{"): - d = json.loads(line) - role = d.pop("role") - row.update({f"{role}_{k}": v for k, v in d.items()}) - results.append(row) - _print_row(row) - finally: - if router: - router.terminate() - try: - router.wait(5) - except subprocess.TimeoutExpired: - router.kill() - - meta = { - "host": platform.node(), - "platform": platform.platform(), - "machine": platform.machine(), - "python": platform.python_version(), - "rmw": "rmw_zenoh_cpp", - "reliable": args.reliable, - "depth": args.depth, - "duration_s": args.duration, - "pool_mb": args.pool_mb or 48, - "when": time.strftime("%Y-%m-%d %H:%M:%S"), - } - if args.out: - with open(args.out, "w") as f: - json.dump({"meta": meta, "results": results}, f, indent=1) - print(f"wrote {args.out}") - return 0 - - -_HDR_DONE = False - - -def _print_row(r): - global _HDR_DONE - if not _HDR_DONE: - print( - f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'recv/sent':>11} {'p50 ms':>7} {'p99 ms':>7} " - f"{'max ms':>7} {'pub()':>6} {'pubCPU':>6} {'subCPU':>6} {'shm map pub/sub':>16}", - flush=True, - ) - _HDR_DONE = True - g = r.get - shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('sub_shm_mapped') or 'n/a'}" - mbps = r["size"] * g("pub_rate_hz", 0) / 1e6 - print( - f"{r['mode']:>3} {_human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} " - f"{g('sub_received', 0):>5}/{g('pub_sent', 0):<5} " - f"{g('sub_lat_ms_p50', float('nan')):>7.2f} {g('sub_lat_ms_p99', float('nan')):>7.2f} " - f"{g('sub_lat_ms_max', float('nan')):>7.2f} {g('pub_publish_call_ms_p50', float('nan')):>6.2f} " - f"{g('pub_cpu_pct', float('nan')):>5.0f}% {g('sub_cpu_pct', float('nan')):>5.0f}% {shm_s:>16}", - flush=True, - ) - - -def main(): - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - sp = ap.add_subparsers(dest="cmd", required=True) - for name in ("pub", "sub", "run"): - p = sp.add_parser(name) - p.add_argument("--depth", type=int, default=10) - p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True) - p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell") - p.add_argument("--warmup", type=float, default=1.0) - if name == "run": - p.add_argument( - "--sizes", - default="1024,65536,1048576,2097152,8388608,2097152", - help="bytes per message (default: FicTrac-ish, preview, 2P frame, 2 MP frame, 8 MB, BIAS-rate 2 MP)", - ) - p.add_argument("--rates", default="100,100,30,30,30,135", help="Hz, one value or one per size") - p.add_argument("--modes", default="off,on") - p.add_argument("--pool-mb", type=float, default=0, help="shared-memory pool (0 = rmw_zenoh default 48)") - p.add_argument("--port", type=int, default=7457) - p.add_argument("--domain", type=int, default=42) - p.add_argument("--out") - else: - p.add_argument("--size", type=int, required=True) - p.add_argument("--rate", type=float, required=True) - args = ap.parse_args() - return {"pub": cmd_pub, "sub": cmd_sub, "run": cmd_run}[args.cmd](args) - - -if __name__ == "__main__": - sys.exit(main()) diff --git a/rig/shm_bench_qpc.py b/rig/shm_bench_qpc.py deleted file mode 100644 index aa0d3167..00000000 --- a/rig/shm_bench_qpc.py +++ /dev/null @@ -1,403 +0,0 @@ -#!/usr/bin/env python3 -"""shm_bench.py — rmw_zenoh shared memory on vs off, for image-sized ROS 2 messages (LAB-303). - -One publisher process and one subscriber process exchange sensor_msgs/Image messages of a fixed -size at a fixed rate. Latency is publish-call → subscriber callback, both stamped with -time.perf_counter_ns() (one system-wide clock on macOS, Linux and Windows), so it includes rclpy's -Python→C conversion, CDR serialization, the transport, deserialization and callback dispatch. - - pixi run python shm_bench.py run # the default matrix, shm off then on - pixi run python shm_bench.py run --sizes 1048576 --rates 30 --modes on --duration 5 - pixi run python shm_bench.py run --out results.json - -`run` starts its own Zenoh router on --port (default 7457, not the rig's 7447) and a separate -ROS_DOMAIN_ID, so it never touches a running rig. Shared memory is switched with rmw_zenoh's -ZENOH_CONFIG_OVERRIDE (transport/shared_memory/enabled) on both sessions; the pool size can be -raised with --pool-mb (rmw_zenoh's ZENOH_SHM_ALLOC_SIZE, default 48 MiB). After its measured -window each process reports how much shared memory it has mapped (macOS: vmmap; Linux: /dev/shm; -Windows: committed MEM_MAPPED regions): the direct evidence that the Zenoh pool was used. With -shared memory on, it is about 48 MB higher than with it off. -""" - -from __future__ import annotations - -import argparse -import json -import os -import platform -import shutil -import socket -import statistics -import subprocess -import sys -import time - -TOPIC = "/bench/image" - - -# ── the two ROS processes ────────────────────────────────────────────────────────────────────── - - -def _qos(args): - from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy - - return QoSProfile( - history=HistoryPolicy.KEEP_LAST, - depth=args.depth, - reliability=ReliabilityPolicy.RELIABLE if args.reliable else ReliabilityPolicy.BEST_EFFORT, - ) - - -def cmd_pub(args): - import rclpy - from sensor_msgs.msg import Image - - rclpy.init() - node = rclpy.create_node("shm_bench_pub") - pub = node.create_publisher(Image, TOPIC, _qos(args)) - msg = Image() - msg.height, msg.width, msg.step, msg.encoding = 1, args.size, args.size, "mono8" - msg.data = os.urandom(args.size) # incompressible, built once - - t_wait = time.monotonic() - while pub.get_subscription_count() == 0: - if time.monotonic() - t_wait > 15: - print(json.dumps({"role": "pub", "error": "no subscriber after 15 s"}), flush=True) - return 1 - rclpy.spin_once(node, timeout_sec=0.05) - time.sleep(0.5) - - warm = max(1, int(args.rate * args.warmup)) - n = max(1, int(args.rate * args.duration)) - period = 1.0 / args.rate - call_ns = [] - next_t = time.monotonic() - cpu0 = wall0 = None - for i in range(warm + n): - dt = next_t - time.monotonic() - if dt > 0: - time.sleep(dt) - if i == warm: - cpu0, wall0 = time.process_time(), time.monotonic() - msg.header.frame_id = f"w{i}" if i < warm else f"m{i - warm}" - t = time.perf_counter_ns() - msg.header.stamp.sec, msg.header.stamp.nanosec = divmod(t, 1_000_000_000) - pub.publish(msg) - if i >= warm: - call_ns.append(time.perf_counter_ns() - t) - next_t += period - cpu1, wall1 = time.process_time(), time.monotonic() - msg.header.frame_id = "end" - for _ in range(3): - pub.publish(msg) - time.sleep(0.05) - print( - json.dumps( - { - "role": "pub", - "sent": n, - "rate_hz": n / (wall1 - wall0), - "cpu_pct": 100 * (cpu1 - cpu0) / (wall1 - wall0), - "publish_call_ms_p50": statistics.median(call_ns) / 1e6, - "publish_call_ms_p99": _pct(call_ns, 99) / 1e6, - "shm_mapped": _shm_mapped(), - } - ), - flush=True, - ) - time.sleep(0.3) - node.destroy_node() - rclpy.shutdown() - return 0 - - -def cmd_sub(args): - import rclpy - from sensor_msgs.msg import Image - - rclpy.init() - node = rclpy.create_node("shm_bench_sub") - st = {"lat": [], "seqs": [], "bad": 0, "cpu0": None, "wall0": None, "done": False} - - def cb(msg): - now = time.perf_counter_ns() - fid = msg.header.frame_id - if fid == "end": - st["done"] = True - return - if fid[0] != "m": - return - if st["cpu0"] is None: - st["cpu0"], st["wall0"] = time.process_time(), time.monotonic() - if len(msg.data) != args.size: - st["bad"] += 1 - st["lat"].append(now - (msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec)) - st["seqs"].append(int(fid[1:])) - - node.create_subscription(Image, TOPIC, cb, _qos(args)) - print("READY", flush=True) - deadline = time.monotonic() + args.warmup + args.duration + 30 - while not st["done"] and time.monotonic() < deadline: - rclpy.spin_once(node, timeout_sec=0.1) - cpu1, wall1 = time.process_time(), time.monotonic() - lat = st["lat"] - out = {"role": "sub", "received": len(lat), "bad_size": st["bad"], "timed_out": not st["done"]} - if lat: - seqs = st["seqs"] - out.update( - { - "lost": (max(seqs) + 1) - len(set(seqs)), - "lat_ms_p50": statistics.median(lat) / 1e6, - "lat_ms_p95": _pct(lat, 95) / 1e6, - "lat_ms_p99": _pct(lat, 99) / 1e6, - "lat_ms_max": max(lat) / 1e6, - "cpu_pct": 100 * (cpu1 - st["cpu0"]) / max(1e-9, wall1 - st["wall0"]), - } - ) - out["shm_mapped"] = _shm_mapped() - print(json.dumps(out), flush=True) - node.destroy_node() - rclpy.shutdown() - return 0 - - -def _shm_mapped(): - """Shared memory this process has mapped — the direct evidence that the Zenoh pool is in use. - - Called only AFTER the measured window: macOS `vmmap` suspends the process it inspects. - macOS: vmmap's "shared memory" virtual size (about 48 kB without the pool, 49 MB with the - default 48 MiB pool). Linux: the /dev/shm mappings. Windows: committed MEM_MAPPED regions. - Anything else: None (not measured).""" - try: - if sys.platform == "darwin": - out = subprocess.run( - ["vmmap", "-summary", str(os.getpid())], capture_output=True, text=True, timeout=20 - ).stdout - for ln in out.splitlines(): - if ln.startswith("shared memory"): - return ln.split()[2] - elif sys.platform.startswith("linux"): - total = 0 - with open("/proc/self/maps") as f: - for ln in f: - if "/dev/shm/" in ln: - a, b = ln.split()[0].split("-") - total += int(b, 16) - int(a, 16) - return f"{total / (1 << 20):.1f}M" - elif sys.platform == "win32": - # Committed MEM_MAPPED regions (section views: the Zenoh pool, plus a few MB of other - # mapped files). Compare off vs on: the pool shows up as a ~48 MB step. - import ctypes - from ctypes import wintypes - - class MBI(ctypes.Structure): - _fields_ = [ - ("BaseAddress", ctypes.c_void_p), - ("AllocationBase", ctypes.c_void_p), - ("AllocationProtect", wintypes.DWORD), - ("PartitionId", wintypes.WORD), - ("RegionSize", ctypes.c_size_t), - ("State", wintypes.DWORD), - ("Protect", wintypes.DWORD), - ("Type", wintypes.DWORD), - ] - - k32 = ctypes.WinDLL("kernel32", use_last_error=True) - k32.VirtualQuery.argtypes = [ctypes.c_void_p, ctypes.POINTER(MBI), ctypes.c_size_t] - k32.VirtualQuery.restype = ctypes.c_size_t - mbi, addr, total = MBI(), 0, 0 - while addr < (1 << 47) and k32.VirtualQuery(addr, ctypes.byref(mbi), ctypes.sizeof(mbi)): - if mbi.State == 0x1000 and mbi.Type == 0x40000: # MEM_COMMIT, MEM_MAPPED - total += mbi.RegionSize - addr = (mbi.BaseAddress or 0) + mbi.RegionSize - return f"{total / (1 << 20):.1f}M" - except Exception: - pass - return None - - -def _pct(xs, p): - s = sorted(xs) - return s[min(len(s) - 1, int(round(p / 100 * (len(s) - 1))))] - - -# ── the orchestrator ────────────────────────────────────────────────────────────────────────── - - -def _port_open(port): - with socket.socket() as s: - s.settimeout(0.2) - return s.connect_ex(("127.0.0.1", port)) == 0 - - -def _router_argv(): - """The rmw_zenohd binary itself, so terminate() stops the router and not just a wrapper - (`ros2` is a launcher script on Windows). Falls back to `ros2 run`.""" - try: - from ament_index_python.packages import get_package_prefix - - libdir = os.path.join(get_package_prefix("rmw_zenoh_cpp"), "lib", "rmw_zenoh_cpp") - for name in ("rmw_zenohd.exe", "rmw_zenohd"): - exe = os.path.join(libdir, name) - if os.path.isfile(exe): - return [exe] - except Exception: - pass - return [shutil.which("ros2") or "ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"] - - -def _human(n): - for unit, k in (("MB", 1 << 20), ("kB", 1 << 10)): - if n >= k: - v = n / k - return f"{v:g} {unit}" - return f"{n} B" - - -def cmd_run(args): - me = os.path.abspath(__file__) - base = dict(os.environ) - base["ROS_DOMAIN_ID"] = str(args.domain) - base["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp" - base.setdefault("RUST_LOG", "error") # silence zenoh_config deprecation warnings - endpoint = f'["tcp/127.0.0.1:{args.port}"]' - - router = None - if not _port_open(args.port): - renv = dict(base, ZENOH_CONFIG_OVERRIDE=f"listen/endpoints={endpoint}") - router = subprocess.Popen( - _router_argv(), env=renv, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL - ) - t0 = time.monotonic() - while not _port_open(args.port): - if time.monotonic() - t0 > 20: - sys.exit(f"router did not come up on :{args.port}") - time.sleep(0.2) - - sizes = [int(s) for s in args.sizes.split(",")] - rates = [float(r) for r in args.rates.split(",")] - if len(rates) == 1: - rates *= len(sizes) - if len(rates) != len(sizes): - sys.exit("--rates must be one value or one per size") - - common = [ - "--depth", str(args.depth), - "--duration", str(args.duration), - "--warmup", str(args.warmup), - ] + (["--reliable"] if args.reliable else []) - - results = [] - try: - for mode in args.modes.split(","): - override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}" - env = dict(base, ZENOH_CONFIG_OVERRIDE=override) - if args.pool_mb: - env["ZENOH_SHM_ALLOC_SIZE"] = str(int(args.pool_mb * (1 << 20))) - for size, rate in zip(sizes, rates): - argv = common + ["--size", str(size), "--rate", str(rate)] - sub = subprocess.Popen( - [sys.executable, me, "sub"] + argv, env=env, stdout=subprocess.PIPE, text=True - ) - for _ in range(200): # rmw/zenoh may log to stdout before the marker - line = sub.stdout.readline() - if not line or line.strip() == "READY": - break - print(f" [sub] {line.rstrip()}", file=sys.stderr) - if not line: - sys.exit("subscriber did not start") - pub = subprocess.Popen( - [sys.executable, me, "pub"] + argv, env=env, stdout=subprocess.PIPE, text=True - ) - pout, _ = pub.communicate(timeout=args.duration + 60) - sout, _ = sub.communicate(timeout=60) - row = {"mode": mode, "size": size, "rate": rate} - for line in (pout + sout).splitlines(): - if line.startswith("{"): - d = json.loads(line) - role = d.pop("role") - row.update({f"{role}_{k}": v for k, v in d.items()}) - results.append(row) - _print_row(row) - finally: - if router: - router.terminate() - try: - router.wait(5) - except subprocess.TimeoutExpired: - router.kill() - - meta = { - "host": platform.node(), - "platform": platform.platform(), - "machine": platform.machine(), - "python": platform.python_version(), - "rmw": "rmw_zenoh_cpp", - "reliable": args.reliable, - "depth": args.depth, - "duration_s": args.duration, - "pool_mb": args.pool_mb or 48, - "when": time.strftime("%Y-%m-%d %H:%M:%S"), - } - if args.out: - with open(args.out, "w") as f: - json.dump({"meta": meta, "results": results}, f, indent=1) - print(f"wrote {args.out}") - return 0 - - -_HDR_DONE = False - - -def _print_row(r): - global _HDR_DONE - if not _HDR_DONE: - print( - f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'recv/sent':>11} {'p50 ms':>7} {'p99 ms':>7} " - f"{'max ms':>7} {'pub()':>6} {'pubCPU':>6} {'subCPU':>6} {'shm map pub/sub':>16}", - flush=True, - ) - _HDR_DONE = True - g = r.get - shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('sub_shm_mapped') or 'n/a'}" - mbps = r["size"] * g("pub_rate_hz", 0) / 1e6 - print( - f"{r['mode']:>3} {_human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} " - f"{g('sub_received', 0):>5}/{g('pub_sent', 0):<5} " - f"{g('sub_lat_ms_p50', float('nan')):>7.2f} {g('sub_lat_ms_p99', float('nan')):>7.2f} " - f"{g('sub_lat_ms_max', float('nan')):>7.2f} {g('pub_publish_call_ms_p50', float('nan')):>6.2f} " - f"{g('pub_cpu_pct', float('nan')):>5.0f}% {g('sub_cpu_pct', float('nan')):>5.0f}% {shm_s:>16}", - flush=True, - ) - - -def main(): - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - sp = ap.add_subparsers(dest="cmd", required=True) - for name in ("pub", "sub", "run"): - p = sp.add_parser(name) - p.add_argument("--depth", type=int, default=10) - p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True) - p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell") - p.add_argument("--warmup", type=float, default=1.0) - if name == "run": - p.add_argument( - "--sizes", - default="1024,65536,1048576,2097152,8388608,2097152", - help="bytes per message (default: FicTrac-ish, preview, 2P frame, 2 MP frame, 8 MB, BIAS-rate 2 MP)", - ) - p.add_argument("--rates", default="100,100,30,30,30,135", help="Hz, one value or one per size") - p.add_argument("--modes", default="off,on") - p.add_argument("--pool-mb", type=float, default=0, help="shared-memory pool (0 = rmw_zenoh default 48)") - p.add_argument("--port", type=int, default=7457) - p.add_argument("--domain", type=int, default=42) - p.add_argument("--out") - else: - p.add_argument("--size", type=int, required=True) - p.add_argument("--rate", type=float, required=True) - args = ap.parse_args() - return {"pub": cmd_pub, "sub": cmd_sub, "run": cmd_run}[args.cmd](args) - - -if __name__ == "__main__": - sys.exit(main()) diff --git a/rig/sizing/columns.py b/rig/sizing/columns.py deleted file mode 100644 index ca31cedf..00000000 --- a/rig/sizing/columns.py +++ /dev/null @@ -1,275 +0,0 @@ -"""columns.py — size a bridge-node bag vs its jsonl.gz under the FicTrac-record layouts. - - pixi run size-columns -- runlogs/.bag [runlogs/.jsonl] [--all] - -The study behind docs/development/fictrac-columns-in-the-bag.md (decided 2026-10-18): ONE record per -FicTrac frame on /arena/frame carrying 10 of the 25 FicTrac columns, float64, one MCAP message per -frame, chunk-only index, zstd 19 — measured on the two 2026-10-14 bench bags at 2.24× / 2.48× the -jsonl.gz. Every variant is written by the pure-Python `mcap` writer (the same one mcap_index.reindex -uses for the final layout), so the numbers are what a cleanly closed run ends up with. - -Without --all: the reference jsonl.gz, the bag as it is on disk, and the ADOPTED layout rebuilt from -the bag's records. With --all: the alternatives that were measured and declined (two-topic layouts, -column subsets, 1 s batching, int32 fixed-point), as in the doc's §3 table. A bag recorded before -2026-10-18 holds the raw FicTrac topics (/fictrac/frame or /fictrac/raw), so every variant can be -rebuilt from it; a bag recorded after holds the kept columns in /arena/frame only, and the -25-column rows are reported as "n/a". - -Pure Python (mcap, zstandard); no ROS process needed. -""" - -from __future__ import annotations - -import argparse -import collections -import gzip -import io -import json -import math -import os -import struct -import sys -from pathlib import Path - -import zstandard -from mcap.reader import make_reader -from mcap.writer import CompressionType, IndexType, Writer - -sys.path.insert(0, str(Path(__file__).resolve().parents[1] / "nodes")) -from mcap_convert import decode_cdr # noqa: E402 (the converter's CDR decoder; reads the schema text in the bag) -from mcap_index import ZSTD_LEVEL, _zstd_level # noqa: E402 - -TOPIC_FRAME = "/arena/frame" -FICTRAC_TOPICS = ("/fictrac/frame", "/fictrac/raw") - -# 1-based FicTrac columns (doc §1) -BEHAVIOR_5 = [1, 15, 16, 17, 22] -KEPT_10 = [1, 5, 6, 7, 8, 15, 16, 17, 22, 23] -ALL_25 = list(range(1, 26)) -EXTRA_COLS = [5, 6, 7, 8, 23] # kept beyond the behavior row (col 22 native rides as ft_ns) -INT_COLS = {1, 22, 23} # packed as int64 (col 22 = ns on our rigs) - -ARENA_FLOATS = ("ft", "x", "y", "hd", "bias_deg", "turning_dps", "forward_mms", "err", "dr_lab_x", "dr_lab_y", "dr_lab_z") - - -def load(path: Path) -> list[tuple]: - """(topic, schema name, log_ns, pub_ns, data, decoded) per record, file order.""" - files = sorted(path.glob("*.mcap")) if path.is_dir() else [path] - recs = [] - for f in files: - with open(f, "rb") as fh: - for schema, ch, m in make_reader(fh).iter_messages(log_time_order=False): - sn = schema.name if schema else None - st = schema.data.decode() if schema and schema.data else None - recs.append((ch.topic, sn, m.log_time, m.publish_time, m.data, decode_cdr(sn, st, m.data))) - return recs - - -def fictrac_fields(sn: str | None, msg: dict) -> list[float] | None: - if sn == "rig_interfaces/msg/FicTracFrame": - return list(msg["fields"]) - try: - env = json.loads(msg["data"]) - parts = env["raw"].strip().split(",") - except (KeyError, TypeError, json.JSONDecodeError): - return None - if parts and parts[0].strip()[:2].upper() == "FT": - parts = parts[1:] - try: - return [float(p) for p in parts] - except ValueError: - return None - - -def arena_fields(sn: str | None, msg: dict) -> dict: - """The /arena/frame record as a flat dict, from the typed message or the String-path JSON.""" - if sn == "rig_interfaces/msg/ArenaFrame": - return dict(msg) - o = json.loads(msg["data"]) - return {"t_ms": o["t"], "ms": o["ms"], "fc": o["fc"], "idx": o["idx"], "has_ft": o.get("ft") is not None, - "ft": o.get("ft") if o.get("ft") is not None else math.nan, "x": o.get("x"), "y": o.get("y"), "hd": o.get("hd"), - "epoch": o.get("epoch", 0), "bias_deg": o.get("bias", 0.0) or 0.0, "seq": o.get("wseq", 0), - "turning_dps": math.nan, "forward_mms": math.nan, - "err": o.get("err", math.nan), "dr_lab_x": o.get("dr_lab_x", math.nan), "dr_lab_y": o.get("dr_lab_y", math.nan), - "dr_lab_z": o.get("dr_lab_z", math.nan), "ft_seq": o.get("ft_seq", 0), "ft_ns": o.get("ft_ns", 0), "flags": o.get("flags", 0)} - - -def _f(v) -> float: - return float(v) if v is not None else math.nan - - -def pack_num(v, enc: str) -> bytes: - if enc == "f64": - return struct.pack(" bytes: - out = b"" - for c in cols: - v = fields[c - 1] if len(fields) >= c else math.nan - out += struct.pack(" bytes: - """≈ the typed ArenaFrame's CDR cost: ints as declared, floats per `enc`; `extras` adds the - kept FicTrac columns (the adopted record); `dedup` drops x/y/hd/ft (the join-by-fc variant); - `derived` keeps the live turning_dps/forward_mms values — the adopted record stores NaN there - (a constant, free), which is what the node records since 2026-10-18.""" - out = struct.pack(" int | None: - """Rewrite the bag's records in one layout; returns the MCAP's size in bytes. - layout: 'merged' (the adopted record: /arena/frame + extras, no FicTrac topic) · 'split' (a FicTrac - topic with `cols` beside today's ArenaFrame) · 'dedup' (split, ArenaFrame without x/y/hd/ft) · - 'floor' (ArenaFrame alone, no extras). None when the bag lacks what the variant needs.""" - ft_by_fc: dict[int, list[float]] = {} - have_ft_topic = any(r[0] in FICTRAC_TOPICS for r in recs) - if layout in ("split", "dedup") and not have_ft_topic: - return None - if have_ft_topic: - for topic, sn, lt, pt, data, msg in recs: - if topic in FICTRAC_TOPICS: - f = fictrac_fields(sn, msg) - if f and len(f) >= 1: - ft_by_fc[int(f[0])] = f - buf = io.BytesIO() - with _zstd_level(level): - w = Writer(buf, compression=CompressionType.ZSTD, index_types=IndexType.ALL & ~IndexType.MESSAGE) - w.start(profile="ros2", library="columns.py") - chans: dict[str, int] = {} - - def chan(name: str) -> int: - if name not in chans: - chans[name] = w.register_channel(name, "cdr", w.register_schema(name, "ros2msg", b"")) - return chans[name] - - seq = 0 - buckets: dict[tuple, list] = collections.OrderedDict() - - def emit(topic: str, lt: int, pt: int, payload: bytes, batch: bool) -> None: - nonlocal seq - if batch: - buckets.setdefault((topic, lt // 1_000_000_000), []).append((lt, payload)) - else: - seq += 1 - w.add_message(chan(topic), log_time=lt, publish_time=pt, data=payload, sequence=seq) - - for topic, sn, lt, pt, data, msg in recs: - if topic in FICTRAC_TOPICS: - if layout in ("split", "dedup") and cols: - f = fictrac_fields(sn, msg) - if f is not None: - emit("/fictrac/frame", lt, pt, pack_fictrac(f, cols, enc), batch_ft) - continue # merged / floor: the raw topic is not recorded - if topic == TOPIC_FRAME: - a = arena_fields(sn, msg) - if layout == "merged": - # The extras come from the record itself (a bag after 2026-10-18) or, for an old - # bag, from the raw topic joined by fc — what the node now writes directly. - if math.isnan(_f(a.get("err"))) and int(a["fc"]) in ft_by_fc: - f = ft_by_fc[int(a["fc"])] - a.update({"err": f[4] if len(f) > 4 else math.nan, "dr_lab_x": f[5] if len(f) > 5 else math.nan, - "dr_lab_y": f[6] if len(f) > 6 else math.nan, "dr_lab_z": f[7] if len(f) > 7 else math.nan, - "ft_seq": int(f[22]) if len(f) > 22 else 0, "ft_ns": int(f[21]) if len(f) > 21 else 0}) - payload = pack_arena(a, enc, extras=True) - elif layout == "dedup": - payload = pack_arena(a, enc, extras=False, dedup=True) - else: - payload = pack_arena(a, enc, extras=False, derived=True) # the pre-2026-10-18 record as it was - emit(topic, lt, pt, payload, batch_arena) - else: - emit(topic, lt, pt, data, False) - for (topic, _b), items in sorted(buckets.items(), key=lambda kv: kv[0][1]): - body = struct.pack(" dict: - recs = load(bag) - n_frames = sum(1 for r in recs if r[0] == TOPIC_FRAME) - on_disk = sum(f.stat().st_size for f in (bag.glob("*.mcap") if bag.is_dir() else [bag])) - rows: list[tuple[str, int | None]] = [] - gz = None - if jsonl is None: - cand = bag.parent / (bag.name[:-4] + ".jsonl") if bag.name.endswith(".bag") else None - if cand and cand.exists(): - jsonl = cand - if jsonl and jsonl.exists(): - raw = jsonl.read_bytes() - gz = len(raw) if jsonl.suffix == ".gz" else len(gzip.compress(raw, 9)) - rows.append(("jsonl.gz (reference)", gz)) - rows.append(("bag as on disk", on_disk)) - rows.append(("ADOPTED: one record per frame, kept 10 cols, float64, one message per frame, chunk-only index, zstd 19", - write_variant(recs, **ADOPTED))) - if all_variants: - for label, kw in ALTERNATIVES: - rows.append((label, write_variant(recs, **kw))) - return {"bag": str(bag), "frames": n_frames, "jsonl_gz": gz, "rows": rows} - - -def main(argv: list[str] | None = None) -> int: - ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - ap.add_argument("bag", help="a rosbag2 bag directory or a single .mcap file") - ap.add_argument("jsonl", nargs="?", help="the run's exported .jsonl or .jsonl.gz (default: .jsonl beside the bag)") - ap.add_argument("--all", action="store_true", help="also the declined alternatives (doc §3 table)") - ap.add_argument("--json", action="store_true", help="machine-readable output") - a = ap.parse_args(argv) - res = study(Path(a.bag), Path(a.jsonl) if a.jsonl else None, a.all) - if a.json: - print(json.dumps(res)) - return 0 - gz = res["jsonl_gz"] - print(f"{Path(res['bag']).name}: {res['frames']} frames" + (f"; jsonl.gz {gz} B" if gz else "; no jsonl beside the bag (ratios omitted)")) - print(f"{'variant':100s} {'bytes':>9s} {'x jsonl.gz':>10s} {'B/frame':>8s}") - for label, n in res["rows"]: - if n is None: - print(f"{label:100s} {'n/a':>9s} {'':>10s} {'':>8s} (needs the raw FicTrac topics)") - continue - ratio = f"{n / gz:9.2f}x" if gz else "" - per = f"{n / res['frames']:8.1f}" if res["frames"] else "" - print(f"{label:100s} {n:9d} {ratio:>10s} {per:>8s}") - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/sizing/compare.py b/rig/sizing/compare.py deleted file mode 100644 index 919455ed..00000000 --- a/rig/sizing/compare.py +++ /dev/null @@ -1,94 +0,0 @@ -"""compare.py — size one behavior_v2 run log (.jsonl or .jsonl.gz) as NDJSON vs MCAP layouts. - - pixi run size-study -- path/to/run.jsonl[.gz] - -Size comparison: our behavior_v2 NDJSON run log vs the same content in MCAP. - -Variants: - ndjson raw / gzip-9 (what the bridge writes) / gzip-6 / zstd-3 / zstd-19 / lz4 - mcap-json one channel per stream or event type, JSON-encoded messages with a JSON schema, - chunk compression none / lz4 / zstd (what the Foxglove SDK would produce) - mcap-packed high-rate rows as fixed little-endian structs (≈ what typed ROS 2 CDR messages - cost; CDR adds a 4-byte header + alignment), events still JSON; zstd -""" -import gzip, io, json, struct, sys, math, zlib -import zstandard, lz4.frame -from mcap.writer import Writer, CompressionType - -path = sys.argv[1] -raw = open(path, "rb").read() -if raw[:2] == b"\x1f\x8b": - raw = gzip.decompress(raw) -objs = [json.loads(l) for l in raw.decode().splitlines() if l.strip()] -t0 = next(o["ms"] for o in objs if isinstance(o, dict) and o.get("type") == "session") - -def kinds(o): - if isinstance(o, list): - return "fictrac/frame" if isinstance(o[0], (int, float)) else f"stream/{o[0]}" - t = o.get("type") - return f"event/{t}" + (f"/{o.get('event')}" if t == "log" else "") - -def log_time_ns(o): - if isinstance(o, list): - if isinstance(o[0], (int, float)): - rel = o[0] - elif o[0] == "a": - rel = o[1] - else: - rel = o[1] if isinstance(o[1], (int, float)) else 0 - return int((t0 + rel) * 1e6) - if isinstance(o.get("ms"), (int, float)): - ms = o["ms"] - return int((ms if ms > 1e11 else t0 + ms) * 1e6) - if isinstance(o.get("rx_ms"), (int, float)): - return int(o["rx_ms"] * 1e6) - return int(t0 * 1e6) - - -import mcap.writer as MW - -def write_mcap(level=3, msg_index=True, batch_streams=(), batch_s=1.0): - """JSON-schema channels, one per stream/event type; optional 1 s batching of named streams; - zstd chunk compression at `level` (the library hard-codes 3, so it is swapped underneath).""" - saved = MW.zstandard.compress - MW.zstandard.compress = lambda d, _l=level: zstandard.ZstdCompressor(level=_l).compress(d) - try: - buf = io.BytesIO() - from mcap.writer import IndexType - w = Writer(buf, compression=CompressionType.ZSTD, index_types=IndexType.ALL if msg_index else (IndexType.ALL & ~IndexType.MESSAGE)) - w.start(profile="", library="compare.py") - chans = {} - def chan(name): - if name not in chans: - chans[name] = w.register_channel(name, "json", w.register_schema(name, "jsonschema", b"{}")) - return chans[name] - seq = 0; buckets = {} - for o in objs: - k = kinds(o); ts = log_time_ns(o) - if k in batch_streams: - buckets.setdefault((k, int(ts // int(batch_s * 1e9))), []).append(o); continue - seq += 1 - w.add_message(chan(k), log_time=ts, publish_time=ts, data=json.dumps(o, separators=(",", ":")).encode(), sequence=seq) - for (k, b), rows in sorted(buckets.items(), key=lambda kv: kv[0][1]): - ts = log_time_ns(rows[0]); seq += 1 - w.add_message(chan(k + "/batch"), log_time=ts, publish_time=ts, data=json.dumps(rows, separators=(",", ":")).encode(), sequence=seq) - w.finish() - return len(buf.getvalue()) - finally: - MW.zstandard.compress = saved - -n = len(objs) -g9 = len(gzip.compress(raw, 9)) -print(f"{path.rsplit('/', 1)[-1]}: {n} records") -print(f"{'variant':62s} {'bytes':>9s} {'B/rec':>6s} {'vs gzip-9':>9s}") -for name, b in [ - ("NDJSON raw", len(raw)), - ("NDJSON gzip-9 (bridge 3.4 writes this)", g9), - ("NDJSON zstd-19", len(zstandard.ZstdCompressor(level=19).compress(raw))), - ("MCAP per record, rosbag2/SDK defaults (zstd-3, message index)", write_mcap()), - ("MCAP per record, no message index, zstd-3", write_mcap(msg_index=False)), - ("MCAP per record, no message index, zstd-19", write_mcap(level=19, msg_index=False)), - ("MCAP tuned: arena echoes batched 1 s, no msg index, zstd-19", write_mcap(level=19, msg_index=False, batch_streams=("stream/a",))), - ("MCAP all high-rate batched 1 s, zstd-19", write_mcap(level=19, msg_index=False, batch_streams=("stream/a", "stream/kf", "fictrac/frame"))), -]: - print(f"{name:62s} {b:9d} {b/n:6.1f} {b/g9:8.2f}×") diff --git a/rig/sizing/frames300.py b/rig/sizing/frames300.py deleted file mode 100644 index 1f943e78..00000000 --- a/rig/sizing/frames300.py +++ /dev/null @@ -1,73 +0,0 @@ -"""One hour of controller frame records at 300 Hz in the telemetry ring's cf shape: - ["cf", rx_epoch_ms, t_us, seq, idx, pattern, sd_load_us, spi_us, req_age_us, superseded, flags] -Realistic jitter: t_us steps 3333 µs ± a few µs; sd_load/spi vary; idx follows a 50 Hz Mode-3 loop -(changes every 6th frame on average). 'changes only' = one record per idx change.""" -import io, json, gzip, random, zstandard -import mcap.writer as MW -from mcap.writer import Writer, CompressionType, IndexType - -random.seed(1) -HZ, HOURS = 300, 1 -N = HZ * 3600 * HOURS -t0_ms = 1_792_000_000_000 -rows, changes = [], [] -t_us = 0; idx = 0; rx = t0_ms -for i in range(N): - t_us += 3333 + random.randint(-3, 3) - if i % 6 == 0: # a 0x70 landed (≈50 Hz): idx steps by -1..+2 - idx = (idx + random.choice((-1, 0, 1, 1, 2))) % 200 - changed = True - else: - changed = False - rx = t0_ms + (t_us // 1000) + random.randint(0, 2) # host epoch ms at drain - r = ["cf", rx, t_us, i, idx, 3, 180 + random.randint(0, 40), 95 + random.randint(0, 6), - random.randint(50, 900), 0, 0] - rows.append(r) - if changed: - changes.append(r) - -def ndjson_gz(rs): - return len(gzip.compress("".join(json.dumps(r, separators=(",", ":")) + "\n" for r in rs).encode(), 9)) - -def mcap_size(rs, batch_s=None, level=19, msg_index=False): - saved = MW.zstandard.compress - MW.zstandard.compress = lambda d, _l=level: zstandard.ZstdCompressor(level=_l).compress(d) - try: - buf = io.BytesIO() - w = Writer(buf, compression=CompressionType.ZSTD, - index_types=IndexType.ALL if msg_index else (IndexType.ALL & ~IndexType.MESSAGE)) - w.start(profile="", library="frames300") - cid = w.register_channel("controller/frame", "json", w.register_schema("cf", "jsonschema", b"{}")) - if batch_s is None: - for k, r in enumerate(rs): - ts = r[1] * 1_000_000 - w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(r, separators=(",", ":")).encode(), sequence=k) - else: - cur, bucket, k = None, [], 0 - for r in rs: - b = int(r[1] // (batch_s * 1000)) - if cur is not None and b != cur: - ts = bucket[0][1] * 1_000_000; k += 1 - w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(bucket, separators=(",", ":")).encode(), sequence=k) - bucket = [] - cur = b; bucket.append(r) - if bucket: - ts = bucket[0][1] * 1_000_000 - w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(bucket, separators=(",", ":")).encode(), sequence=k + 1) - w.finish() - return len(buf.getvalue()) - finally: - MW.zstandard.compress = saved - -MB = 1024 * 1024 -print(f"{N} frame records/hour at {HZ} Hz; {len(changes)} idx changes/hour ({len(changes)/3600:.0f} Hz)") -print(f"{'variant':58s} {'every frame':>12s} {'changes only':>13s}") -for name, fn in [ - ("NDJSON gzip-9 (today's format)", lambda rs: ndjson_gz(rs)), - ("MCAP per-record, rosbag2/SDK defaults (zstd-3, msg index)", lambda rs: mcap_size(rs, level=3, msg_index=True)), - ("MCAP per-record, tuned (zstd-19, no msg index)", lambda rs: mcap_size(rs)), - ("MCAP batched 1 s per message, zstd-19", lambda rs: mcap_size(rs, batch_s=1.0)), - ("MCAP batched 10 s per message, zstd-19", lambda rs: mcap_size(rs, batch_s=10.0)), -]: - a, b = fn(rows), fn(changes) - print(f"{name:58s} {a/MB:9.1f} MB {b/MB:10.1f} MB") diff --git a/rig/tests/si_json_mock.py b/rig/tests/si_json_mock.py deleted file mode 100644 index a98606fb..00000000 --- a/rig/tests/si_json_mock.py +++ /dev/null @@ -1,223 +0,0 @@ -#!/usr/bin/env python3 -"""si_json_mock.py — a stand-in for ScanImage's built-in JSON server (`most.network.json.Server`). - -Ported from `tests/remote-control/mock_servers.py` (`serve_json`) in reiserlab/scanimage-2026-bergamo -(Hannah Marie Santos, LAB-305), with attribution; the acquisition model below is ours. It imitates -the server's WIRE and its stock (unpatched) behaviors, not ScanImage's timing: - - * TCP, single client (listen(1), like AsyncServer); every message is ` str: - return path[4:] if path.startswith("hSI.") else path - - -def _resolve(path: str): - node = STATE - parts = _strip(path).split(".") - for p in parts[:-1]: - if not isinstance(node, dict) or p not in node: - raise ValueError(f'"{path}" is not a valid property name') - node = node[p] - if not isinstance(node, dict) or parts[-1] not in node: - raise ValueError(f'"{path}" is not a valid property name') - return node, parts[-1] - - -def get(path: str): - _tick() - if path in STALL_ON or ("hSI." + path) in STALL_ON: - raise _Stall(path) - if _strip(path) in OBJECT_VALUED: - return object() # unencodable → B2 - node, key = _resolve(path) - return node[key] - - -def set_(path: str, value): - node, key = _resolve(path) - if _strip(path) == "acqState": - raise ValueError("acqState is read-only") - node[key] = value - return value - - -def _tick() -> None: - """Advance the acquisition model to `now`.""" - with _lock: - if STATE["acqState"] in ("grab", "focus") and _acq["t_start"] is not None: - fps = STATE["hRoiManager"]["scanFrameRate"] - STATE["hDisplay"]["lastFrameNumber"] = int((time.monotonic() - _acq["t_start"]) * fps) - if STATE["acqState"] == "grab" and _acq["t_end"] is not None and time.monotonic() >= _acq["t_end"]: - STATE["acqState"] = "idle" - _acq["t_end"] = None - - -def _eval(expr: str, args: argparse.Namespace): - expr = expr.strip() - if expr in ("hSI.startGrab()", "hSI.startGrab"): - _tick() - if STATE["acqState"] != "idle": - raise ValueError(f"Cannot start a grab while acqState is '{STATE['acqState']}'") - time.sleep(args.start_delay_s) - with _lock: - dur = args.grab_s if args.grab_s is not None else STATE["hStackManager"]["framesPerSlice"] / STATE["hRoiManager"]["scanFrameRate"] - STATE["acqState"] = "grab" - _acq["t_start"] = time.monotonic() - _acq["t_end"] = _acq["t_start"] + dur - _acq["grabs"] += 1 - STATE["hDisplay"]["lastFrameNumber"] = 0 - if STATE["hChannels"]["loggingEnable"]: - STATE["hScan2D"]["logFileCounter"] += 1 - return [] - if expr in ("hSI.startFocus()", "hSI.startFocus"): - _tick() - if STATE["acqState"] != "idle": - raise ValueError(f"Cannot start focus while acqState is '{STATE['acqState']}'") - time.sleep(args.start_delay_s) - with _lock: - STATE["acqState"] = "focus" - _acq["t_start"] = time.monotonic() - _acq["t_end"] = None - return [] - if expr in ("hSI.abort()", "hSI.abort"): - with _lock: - STATE["acqState"] = "idle" - _acq["t_end"] = None - _acq["aborts"] += 1 - return [] - raise ValueError(f"mock cannot eval {expr!r} (only hSI.startGrab(), hSI.startFocus(), hSI.abort())") - - -def _recv_exact(conn: socket.socket, n: int) -> bytes: - buf = b"" - while len(buf) < n: - chunk = conn.recv(n - len(buf)) - if not chunk: - raise ConnectionError - buf += chunk - return buf - - -def serve(args: argparse.Namespace, stop: threading.Event | None = None) -> None: - srv = socket.socket() - srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - srv.bind((args.host, args.port)) - srv.listen(1) # single client, like AsyncServer - srv.settimeout(0.2) - print(f"[si-json-mock] ScanImage JSON server stand-in on {args.host}:{args.port} (B2 {'on' if args.b2 else 'patched'}, " - f"start delay {args.start_delay_s:g} s, grab {args.grab_s if args.grab_s is not None else 'framesPerSlice/fps'} s)", file=sys.stderr, flush=True) - while not (stop and stop.is_set()): - try: - conn, peer = srv.accept() - except socket.timeout: - continue - conn.settimeout(10.0) - with conn: - while not (stop and stop.is_set()): - try: - n = struct.unpack(" int: - p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) - p.add_argument("--host", default="127.0.0.1") - p.add_argument("--port", type=int, default=5555) - p.add_argument("--no-b2", dest="b2", action="store_false", help="patched behavior: an error reply instead of silence on object-valued gets") - p.add_argument("--start-delay-s", type=float, default=0.3, help="how long startGrab/startFocus block before replying (Bergamo: 1.2–2.4 s)") - p.add_argument("--grab-s", type=float, default=None, help="grab duration override (default: framesPerSlice / scanFrameRate)") - p.add_argument("--stall-on", action="append", default=[], help="property path whose get is never answered (harness: the UNKNOWN path on an allowlisted property)") - args = p.parse_args(argv) - STALL_ON.update(a if a.startswith("hSI.") else "hSI." + a for a in args.stall_on) - try: - serve(args) - except KeyboardInterrupt: - pass - return 0 - - -if __name__ == "__main__": - raise SystemExit(main()) diff --git a/rig/tests/test_ros2_poc.py b/rig/tests/test_ros2_poc.py index c74ca01f..c0d27743 100644 --- a/rig/tests/test_ros2_poc.py +++ b/rig/tests/test_ros2_poc.py @@ -16,9 +16,9 @@ ───────────────────────────────────────────────────────────────────────────────────── pixi install, no manual steps; one `pixi run rig` this test runs in that env; rig.py is the launcher no custom message types std_msgs/String everywhere (grep in CI below) - FicTrac via the sim through a UDP→ROS adapter, untouched fictrac_sim.py unmodified, adapter in nodes/ + FicTrac via the sim through a UDP→ROS adapter, untouched rig_nodes.sims.fictrac_sim, adapter rig_nodes.fictrac_udp_adapter Kinefly fork via a KF/1 adapter kinefly_sim.py (KF/1 bytes) → adapter → ["kf",…] rows - BIAS via the Mac port bias_sim.py here; real BIAS = same HTTP interface + BIAS via the Mac port rig_nodes.sims.bias_sim; real BIAS = same HTTP interface unmodified Studio passes the closed-loop report emulator speaks the client's protocol; report: rejection > 0.8 on uninterrupted epochs, idx mismatch 0 … and the runlog format tests js/runlog-format + runlog-replay readers accept every line; @@ -74,11 +74,10 @@ POC = HERE.parent REPO = POC.parent NODES = POC / "nodes" -SIM = REPO / "fictrac-bridge" / "fictrac_sim.py" BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py" PY = sys.executable sys.path.insert(0, str(NODES)) -from _common import SIGKILL, popen_group, signal_group, wait_port # noqa: E402 +from rig_nodes.supervise import SIGKILL, popen_group, signal_group, wait_port # noqa: E402 (reiserlab/rig-nodes) results: list[tuple[str, bool, str]] = [] @@ -337,7 +336,7 @@ def frame_record_size(bag: Path, export: Path) -> dict: from mcap.writer import CompressionType, IndexType, Writer sys.path.insert(0, str(NODES)) - from mcap_index import ZSTD_LEVEL, _zstd_level # noqa: E402 + from rig_nodes.mcap_index import ZSTD_LEVEL, _zstd_level # noqa: E402 buf = io.BytesIO() n = 0 @@ -393,28 +392,28 @@ def start(name: str, argv: list[str]) -> Proc: if not a.no_router: start("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]) check("zenoh router listening on 127.0.0.1:7447", wait_port("127.0.0.1", 7447, 20.0)) - fictrac = start("fictrac-adapter", [PY, str(NODES / "fictrac_udp_adapter.py"), "--status-every", "0"]) - start("kinefly-adapter", [PY, str(NODES / "kinefly_udp_adapter.py"), "--status-every", "0"]) + fictrac = start("fictrac-adapter", [PY, "-m", "rig_nodes.fictrac_udp_adapter", "--status-every", "0"]) + start("kinefly-adapter", [PY, "-m", "rig_nodes.kinefly_udp_adapter", "--status-every", "0"]) # The sim on a free port, not BIAS's 5010: a rig PC often has the real BIAS open. bias_port = free_tcp_port() - start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--port", str(bias_port), "--video-dir", str(videos)]) - start("bias-node", [PY, str(NODES / "bias_node.py"), "--port", str(bias_port), "--status-every", "1", "--video-dir", str(videos)]) + start("bias-sim", [PY, "-m", "rig_nodes.sims.bias_sim", "--port", str(bias_port), "--video-dir", str(videos)]) + start("bias-node", [PY, "-m", "rig_nodes.bias_node", "--port", str(bias_port), "--status-every", "1", "--video-dir", str(videos)]) # ScanImage stand-in on a free port (a rig PC may have the real JSON server on 5555): short # grabs, a short start delay, and one allowlisted property it never answers (the UNKNOWN path). si_port = free_tcp_port() - start("si-mock", [PY, str(HERE / "si_json_mock.py"), "--port", str(si_port), "--grab-s", "1.0", "--start-delay-s", "0.2", "--stall-on", "hSI.hRoiManager.scanZoomFactor"]) - start("scanimage-node", [PY, str(NODES / "scanimage_node.py"), "--port", str(si_port), "--status-every", "1", "--timeout-s", "1.5"]) + start("si-mock", [PY, "-m", "rig_nodes.sims.si_json_mock", "--port", str(si_port), "--grab-s", "1.0", "--start-delay-s", "0.2", "--stall-on", "hSI.hRoiManager.scanZoomFactor"]) + start("scanimage-node", [PY, "-m", "rig_nodes.scanimage_node", "--port", str(si_port), "--status-every", "1", "--timeout-s", "1.5"]) bridge_argv = [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", a.bag_profile] bridge = start("bridge-node", bridge_argv) check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0)) time.sleep(1.5) # discovery - start("kinefly-sim", [PY, str(NODES / "kinefly_sim.py"), "--rate", "100", "--seed", "1"]) - start("model-fly", [PY, str(SIM), "--model", "fly", "--kp", "2", "--seed", "1", "--rate", "50"]) + start("kinefly-sim", [PY, "-m", "rig_nodes.sims.kinefly_sim", "--rate", "100", "--seed", "1"]) + start("model-fly", [PY, "-m", "rig_nodes.sims.fictrac_sim", "--model", "fly", "--kp", "2", "--seed", "1", "--rate", "50"]) time.sleep(1.5) # ── side actors during the run: BIAS commands + the adapter kill ───────────── def bias_cmd(*args: str) -> dict: - r = run_capture([PY, str(NODES / "bias_cmd.py"), *args, "--json", "--timeout", "10"], timeout=30) + r = run_capture([PY, "-m", "rig_nodes.bias_cmd", *args, "--json", "--timeout", "10"], timeout=30) try: return json.loads(r.stdout) if r.stdout.strip().startswith("{") else {"rc": r.returncode, "err": r.stderr[-300:]} except json.JSONDecodeError: @@ -690,7 +689,7 @@ def side_actor() -> None: print(" skip JS reader check: no `node` and no root pixi env (run `pixi install` at the repo root)", file=sys.stderr) # Plan B item 3/4: typed topics when the interfaces package is built in this env. - ifc = run_capture([PY, str(NODES / "build_interfaces.py"), "--check"], timeout=60) + ifc = run_capture([PY, "-m", "rig_nodes.build_interfaces", "--check"], timeout=60) have_ifaces = ifc.returncode == 0 if have_ifaces: check("typed: rig_interfaces importable → ArenaFrame recorded in the bag (and no FicTracFrame by default)", diff --git a/tests/test-fictrac-sim.py b/tests/test-closed-loop-report.py similarity index 57% rename from tests/test-fictrac-sim.py rename to tests/test-closed-loop-report.py index b117fa7f..473a00a3 100644 --- a/tests/test-fictrac-sim.py +++ b/tests/test-closed-loop-report.py @@ -1,9 +1,10 @@ #!/usr/bin/env python3 -"""Offline tests for fictrac-bridge/fictrac_sim.py (run-log replay + model fly) and -scripts/closed-loop-report.py. No sockets: the pure pieces are driven directly and the -report is run on a synthetic run log written to a temp dir. Wired into `pixi run test`. +"""Offline tests for scripts/closed-loop-report.py: bias_angle_deg mirrors fictrac-bridge/bridge.py and +the report is run on synthetic run logs written to a temp dir. Wired into `pixi run test`. +(Until 2026-10-26 this file also tested fictrac_sim.py; those tests moved with the simulator to +reiserlab/rig-nodes, tests/test_fictrac_sim.py.) -Run: python tests/test-fictrac-sim.py +Run: python tests/test-closed-loop-report.py """ from __future__ import annotations @@ -25,7 +26,6 @@ def load(name, rel): return mod -sim = load("fictrac_sim", "fictrac-bridge/fictrac_sim.py") rep = load("closed_loop_report", "scripts/closed-loop-report.py") bridge = load("bridge", "fictrac-bridge/bridge.py") @@ -47,113 +47,6 @@ def check_close(name, got, expected, tol): print("=== pack_record / wrap ===") -f = sim.pack_record(7, 20.0, 7.0, 0.1, 0.02, 7.0, 1.0, 2.0, 3.0, 4.0) -check("frame counter col 1", f[0], 7) -check_close("heading col 17 wrapped to [0, 2π)", f[16], 7.0 % (2 * math.pi), 1e-12) -check("delta heading col 8", f[7], 0.1) -check("timestamp col 22 in ns", f[21], 7 * 20.0 * 1e6) -check("25 fields", len(f), 25) -check("fmt_record ints for cols 1/23", sim.fmt_record(f).split(", ")[0], "7") -check("wrap180(190) = -170", sim.wrap180(190.0), -170.0) -check("wrap180(-180) stays -180 (range is [-180, 180))", sim.wrap180(-180.0), -180.0) -check("wrap180(180) = -180", sim.wrap180(180.0), -180.0) -check_close("wrap_pi(3π) = -π", sim.wrap_pi(3 * math.pi), -math.pi, 1e-9) -check_close("wrap_pi(0.5) unchanged", sim.wrap_pi(0.5), 0.5, 1e-12) - -print("=== feature azimuth ===") -check("frame 0 → az0", sim.feature_azimuth(0, 1.8, 1, 0.0), 0.0) -check_close("idx 50 at 1.8°/frame → +90° right", sim.feature_azimuth(50, 1.8, 1, 0.0), 90.0, 1e-9) -check_close("frame_dir -1 flips", sim.feature_azimuth(50, 1.8, -1, 0.0), -90.0, 1e-9) -check_close("idx 150 wraps to -90", sim.feature_azimuth(150, 1.8, 1, 0.0), -90.0, 1e-9) - -print("=== load_runlog_rows (mixed v2 log, gzipped) ===") -with tempfile.TemporaryDirectory() as d: - p = os.path.join(d, "log.jsonl.gz") - lines = [ - {"type": "session", "event": "logging_started", "ms": 1000}, - {"type": "frame_schema", "level": "behavior_v2", "cols": ["ms", "fc", "idx", "ft", "x", "y", "hd"], "t0": 1000}, - [0, 10, 0, 0.0, 0.1, 0.2, 0.5], - ["a", 3, 2, "03700100", 0, 5], - ["cc", 1005, 40000000, 1, 112, 0, "0100"], - [20, 11, 1, 20.0, 0.11, 0.21, 0.52], - [40, 12, 1, 40.0, 0.12, 0.22, None], # hd null → skipped - {"type": "log", "event": "runner", "phase": "step-start"}, - "garbage", - [3000, 13, 2, 60.0, 0.13, 0.23, 6.2], - ] - with gzip.open(p, "wt") as fh: - for l in lines: - fh.write((json.dumps(l) if not isinstance(l, str) else l) + "\n") - rows = sim.load_runlog_rows(p) - check("three usable rows", len(rows), 3) - check("row = (ms, fc, x, y, hd)", rows[0], (0.0, 10, 0.1, 0.2, 0.5)) - - print("=== replay_records: pacing + heading continuity across loops ===") - recs = list(sim.replay_records(rows, loop=False)) - check("one record per row", len(recs), 3) - check("first delay 0", recs[0][0], 0.0) - check_close("20 ms gap → 0.02 s", recs[1][0], 0.02, 1e-9) - check_close("2960 ms gap clamped to 1 s", recs[2][0], 1.0, 1e-9) - check_close("heading col 17 = hd", recs[0][1][16], 0.5, 1e-9) - check_close("delta heading wraps (6.2 − 0.52 → −0.60)", recs[2][1][7], sim.wrap_pi(6.2 - 0.52), 1e-9) - check_close("timestamp col 22 = ms in ns", recs[1][1][21], 20.0 * 1e6, 1e-3) - gen = sim.replay_records(rows, loop=True) - two_passes = [next(gen)[1] for _ in range(6)] - check_close("loop restart keeps heading continuous", two_passes[3][16], two_passes[2][16], 1e-9) - check("frame counter keeps counting across the loop", two_passes[5][0], 6) - check_close("second pass delta heading is a small step, not a jump", abs(two_passes[3][7]), 0.0, 1e-9) - -print("=== ModelFly ===") -fly = sim.ModelFly(rate_hz=50, seed=1, kp=2.0, noise_dps=0.0, saccade_rate_hz=0.0) -h0 = fly.heading -for _ in range(50): - fly.step(30.0) # feature 30° to the RIGHT -check("kp>0, feature right → heading DEcreases (turns right, FicTrac CCW+)", fly.heading < h0, True) -check_close("1 s at kp 2 × 30° with τ 0.1 → ≈ −60°·(1 − τ/1)", math.degrees(fly.heading - h0), -60.0 + 6.0, 2.0) -fly = sim.ModelFly(rate_hz=50, seed=1, kp=2.0, noise_dps=0.0, saccade_rate_hz=0.0) -for _ in range(50): - fly.step(-30.0) -check("feature left → heading increases", fly.heading > 0, True) -fly = sim.ModelFly(rate_hz=50, seed=1, kp=2.0, noise_dps=0.0, saccade_rate_hz=0.0) -for _ in range(50): - fly.step(None) -check("display unseen → no fixation drive", fly.heading, 0.0) - -fly = sim.ModelFly(rate_hz=50, seed=2, kv=1.0, noise_dps=0.0, saccade_rate_hz=0.0, tau_s=0.02) -az = 0.0 -for _ in range(100): - az += 0.9 # feature drifting RIGHT at 45 °/s - fly.step(az) -w = math.degrees(fly.omega) -check_close("kv 1, world moving right at 45°/s → fly turns right at ≈ −45°/s", w, -45.0, 3.0) - -a = sim.ModelFly(rate_hz=50, seed=7, kp=1.0) -b = sim.ModelFly(rate_hz=50, seed=7, kp=1.0) -same = all(a.step(10.0) == b.step(10.0) for _ in range(200)) -check("deterministic given the seed", same, True) - -fly = sim.ModelFly(rate_hz=100, seed=3, noise_dps=0.0, saccade_rate_hz=2.0, saccade_deg=45.0, saccade_ms=80.0) -for _ in range(100 * 60): - fly.step(None) -check("saccade count over 60 s at 2/s is Poisson-ish (90..150)", 90 <= fly.saccades <= 150, True) -check("saccade lasts 8 frames at 100 Hz", fly.saccade_frames, 8) - -fly = sim.ModelFly(rate_hz=50, seed=4, noise_dps=20.0, saccade_rate_hz=0.0, pause_s=1.0, bout_s=1.0, speed_rad_s=1.0) -walked = paused = 0 -speed_paused = 0.0 -for _ in range(50 * 60): - r = fly.step(None) - if fly.walking: - walked += 1 - else: - paused += 1 - speed_paused = max(speed_paused, r[18]) -check("two-state bouts: both states visited", walked > 500 and paused > 500, True) -check("paused fly has zero forward speed", speed_paused, 0.0) -r = fly.step(None) -check("record heading col 17 wrapped", 0.0 <= r[16] < 2 * math.pi, True) -check_close("col 22 in ns", r[21], fly.frame * 20.0 * 1e6, 1e-3) - print("=== closed-loop-report: bias_angle_deg mirrors the bridge ===") for kind, amp, fr, t in (("constant", 90, 0, 1.3), ("sine", 90, 0.5, 0.37), ("square", 60, 1.0, 0.61), ("square", 60, 1.0, 0.9), ("none", 5, 1, 2)): check_close(f"{kind} A={amp} f={fr} t={t}", rep.bias_angle_deg(kind, amp, fr, t), bridge.bias_angle_deg(kind, amp, fr, t), 1e-9)