diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 0000000..992f1c9 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,46 @@ +# Use Ubuntu 22.04 as the base image +FROM ubuntu:22.04 + +# Set environment variables to prevent interactive prompts +ARG DEBIAN_FRONTEND=noninteractive + +# Update package list and install necessary tools and dependencies +RUN apt-get update && \ + apt-get install -y \ + sudo \ + git \ + curl \ + gnupg \ + make \ + build-essential \ + pkg-config \ + libzmq3-dev \ + libssl-dev \ + zlib1g-dev \ + libncurses5-dev \ + libgdbm-dev \ + libnss3-dev \ + libsqlite3-dev \ + libreadline-dev \ + libffi-dev \ + libbz2-dev + + + +# Make a 'dev' user +RUN echo 'root:dev' | chpasswd +RUN useradd -ms /bin/bash dev && echo 'dev:dev' | chpasswd && adduser dev sudo +RUN echo 'dev ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers + +COPY --chown=dev:dev .devcontainer/scripts/gu /usr/local/bin/gu +COPY --chown=dev:dev .devcontainer/scripts/.bashrc /home/dev/.bashrc + +USER dev + +# Install Python 3 using apt +RUN sudo apt-get install -y python3 python3-pip + +# Install uv +RUN curl -LsSf https://astral.sh/uv/install.sh | sh + + diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000..909c567 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,24 @@ +{ + "name": "ASE-roverlib-python-dev", + "build": { + "dockerfile": "./Dockerfile", + "context": "..", + "options": [ + "--network=host" + ] + }, + "customizations": { + "vscode": { + "extensions": [ + "tamasfe.even-better-toml", // TOML syntax support + "dbankier.vscode-quick-select", // Quick select with cmd/ctrl+k " + "charliermarsh.ruff" + ] + } + }, + "runArgs": [ + "--network=host" + ], + "remoteUser": "dev" +} + diff --git a/.devcontainer/scripts/.bashrc b/.devcontainer/scripts/.bashrc new file mode 100755 index 0000000..9ae5abd --- /dev/null +++ b/.devcontainer/scripts/.bashrc @@ -0,0 +1,61 @@ +# personalized PS1 prompt +PS1="\W \e[01;31m$\e[m " + +# If not running interactively, don't do anything +case $- in + *i*) ;; + *) return;; +esac + +# don't put duplicate lines or lines starting with space in the history. +# See bash(1) for more options +HISTCONTROL=ignoreboth + +# append to the history file, don't overwrite it +shopt -s histappend + +# for setting history length see HISTSIZE and HISTFILESIZE in bash(1) +HISTSIZE=1000 +HISTFILESIZE=2000 + +# custom +alias python="python3" +alias l="ls -lah" +alias ..="cd .." + +# git aliases +alias gs="git status" +alias gc="git commit -m " +alias ga="git add " +alias gp="git push" +alias gpl="git pull" +alias gl="git log --pretty=oneline" + +# check the window size after each command and, if necessary +# update the values of LINES and COLUMNS. +shopt -s checkwinsize + +# make less more friendly for non-text input files, see lesspipe(1) +[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" + + +# Alias definitions in bash_aliases +if [ -f ~/work/scripts/.bash_aliases ]; then + . ~/work/scripts/.bash_aliases +fi + +# enable programmable completion features (you don't need to enable +# this, if it's already enabled in /etc/bash.bashrc and /etc/profile +# sources /etc/bash.bashrc). +if ! shopt -oq posix; then + if [ -f /usr/share/bash-completion/bash_completion ]; then + . /usr/share/bash-completion/bash_completion + elif [ -f /etc/bash_completion ]; then + . /etc/bash_completion + fi +fi + +export PATH=$PATH:/home/dev/.local/bin + +if [ -f "$HOME/.cargo/env" ]; then . "$HOME/.cargo/env"; fi + diff --git a/.devcontainer/scripts/gu b/.devcontainer/scripts/gu new file mode 100755 index 0000000..4ec9b4a --- /dev/null +++ b/.devcontainer/scripts/gu @@ -0,0 +1,21 @@ +#!/bin/bash + +STATUS=$(git status) + +TEST=$(echo $STATUS | awk '{print $NF}') + +if [ "$TEST" != "clean" ]; then + git add . + git status + echo -n "Sure you want to commit and push? (y/n) " + read INPUT + if [ "$INPUT" = "y" ]; then + echo -n "Commit message: " + read INPUT + git commit -m "$INPUT" + git push + else + echo "cancelled" + fi +fi + diff --git a/.gitignore b/.gitignore index 15201ac..566d85f 100644 --- a/.gitignore +++ b/.gitignore @@ -169,3 +169,8 @@ cython_debug/ # PyPI configuration file .pypirc +h +.vscode + +.ruff_cache + diff --git a/.python-version b/.python-version new file mode 100644 index 0000000..c8cfe39 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.10 diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..b49dbf4 --- /dev/null +++ b/Makefile @@ -0,0 +1,62 @@ + + + +# Since we are using uv to manage our dependencies, we can utilize the "uv run python ..." +# command which makes sure to launch the python script with the dependencies installed as +# defined by the pyproject.toml file. That makes it the single source of truth and we +# can generate a requirements.txt file from there. + + + +# We always want to run lint checks before we build or test +lint: + @echo "Linting src and tests" + @uv run ruff check src tests + +# This will generate a python package that can be published and installs it locally for +# testing. Note, that it installs it with the -e (editable) option which means that when +# changing any library files, you can immediately test them and don't have to re-install +# with 'uv build'. However if we want to publish, we must always build. +build: lint + @rm -rf dist/ + @uv build + @uv pip compile pyproject.toml -o requirements.txt + +# Add all test files into /tests they will all get run when this target is invoked +test: lint + @uv run pytest + +# Open a python repl for quick debugging +repl: + uv run python + + +clean: + uv cache clean + rm -r .pytest_cache .ruff_cache .venv dist + + + +# Set token: export UV_PUBLISH_TOKEN=(token) +# check token: echo $UV_PUBLISH_TOKEN + +check-publish-token: + @if [ -z "$(UV_PUBLISH_TOKEN)" ]; then \ + echo "Error: UV_PUBLISH_TOKEN environment variable is not set"; \ + exit 1; \ + else \ + echo "UV_PUBLISH_TOKEN is set"; \ + fi + + + +publish-test: check-publish-token build + @echo "Publishing to test.pypi.org" + @uv publish dist/* --index testpypi + + +publish: check-publish-token build + @echo "Publishing to pypi.org" + @uv publish dist/* --index pypi + + diff --git a/README.md b/README.md index cf11b6a..2d912b2 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,9 @@ -# roverlib-python -Building a service that runs on the rover? Then you'll need the roverlib. This is the variant for Python. +

roverlib-python library

+
+ + Documentation +
+
+
+ + diff --git a/docs/00-usage.md b/docs/00-usage.md new file mode 100644 index 0000000..cd2209b --- /dev/null +++ b/docs/00-usage.md @@ -0,0 +1,43 @@ +# Usage + +After installation, you can use roverlib as follows: + +```python +#!/usr/bin/python3 +import roverlib +import signal +import time +import roverlib.rovercom as rovercom + +def run(service : roverlib.Service, configuration : roverlib.ServiceConfiguration): + + # Unlike roverlib-go, these functions do not return an error object, but rather throw an error on failure + speed = configuration.GetFloatSafe("speed") + + name = configuration.GetStringSafe("name") + + write_stream : roverlib.WriteStream = service.GetWriteStream("motor_movement") + + write_stream.Write( + + rovercom.SensorOutput( + sensor_id=2, + timestamp=int(time.time() * 1000), + controller_output=rovercom.ControllerOutput( + steering_angle=float(1), + left_throttle=float(speed), + right_throttle=float(speed), + front_lights=False + ), + ) + ) + + + + +def on_terminate(sig : signal): + logger.info("Terminating") + + +roverlib.Run(run, on_terminate) +``` diff --git a/docs/01-development.md b/docs/01-development.md new file mode 100644 index 0000000..5c74af7 --- /dev/null +++ b/docs/01-development.md @@ -0,0 +1,19 @@ +# For Developers + +The name of the package is `roverlib` which is the same as the module that is then imported by end users (`pip install roverlib` and `import roverlib` to keep consistency). + +The following directory structure aims to separate library code from testing code: +* `src/roverlib` - contains all source code of the library +* `tests/` - contains python files that will all be part of the testing process + +This repository is self-contained and relies heavily on `uv` for dependency management and building packages. The most important commands are wrapped by Makefile targets: + +* `make build` - builds the library to `dist/` and installs it locally for quick testing +* `make test` - runs all files in the `tests/` directory +* `make publish-test` - requires setting an external token with `export PUBLISH_TOKEN=pypi-abc...` and uploads to pypi's test +* `make publish` - requires setting an external token with `export PUBLISH_TOKEN=pypi-def...` and uploads to the official pypi index + + +Before running the `make publish*` targets, make sure to set the correct token depending on which index you are uploading to. + + diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..ccee75d --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,41 @@ +[project] +name = "roverlib" +version = "0.5.3" +description = "ASE roverlib" +readme = "README.md" +authors = [ + { name = "NielsD1", email = "n.j.dijkstra@student.vu.nl" }, + { name = "maxgallup", email = "m.gallup@student.vu.nl" }, + +] +requires-python = ">=3.10" +dependencies = ["pyzmq", "loguru", "betterproto"] + +[project.urls] +"Repository" = "https://github.com/vu-ase/roverlib-python" +"Issues" = "https://github.com/vu-ase/roverlib-python/issues" + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[dependency-groups] +dev = ["pytest>=8.3.4", "ruff>=0.9.7"] + +# Tell pytest that all files in the /tests directory are tests +[tool.pytest.ini_options] +testpaths = ["tests"] +python_files = "tests/*.py" +python_functions = "test_*" +python_classes = "Test*" + + +[[tool.uv.index]] +name = "pypi" +url = "https://pypi.org/simple/" +publish-url = "https://upload.pypi.org/legacy/" + +[[tool.uv.index]] +name = "testpypi" +url = "https://test.pypi.org/simple/" +publish-url = "https://test.pypi.org/legacy/" diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..bdd7586 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,22 @@ +# This file was autogenerated by uv via the following command: +# uv pip compile pyproject.toml -o requirements.txt +betterproto==1.2.5 + # via roverlib (pyproject.toml) +grpclib==0.4.7 + # via betterproto +h2==4.2.0 + # via grpclib +hpack==4.1.0 + # via h2 +hyperframe==6.1.0 + # via h2 +loguru==0.7.3 + # via roverlib (pyproject.toml) +multidict==6.1.0 + # via grpclib +pyzmq==26.2.1 + # via roverlib (pyproject.toml) +stringcase==1.2.0 + # via betterproto +typing-extensions==4.12.2 + # via multidict diff --git a/src/roverlib/__init__.py b/src/roverlib/__init__.py new file mode 100644 index 0000000..69688cc --- /dev/null +++ b/src/roverlib/__init__.py @@ -0,0 +1,8 @@ +from .index import Run +from .bootinfo import Service, service_from_dict +from .configuration import ServiceConfiguration +from .streams import ReadStream, WriteStream +import roverlib.rovercom as rovercom + + +__all__ = ["Run", "Service", "service_from_dict", "ServiceConfiguration", "ReadStream", "WriteStream", "rovercom"] diff --git a/src/roverlib/bootinfo.py b/src/roverlib/bootinfo.py new file mode 100644 index 0000000..597af2d --- /dev/null +++ b/src/roverlib/bootinfo.py @@ -0,0 +1,269 @@ +from enum import Enum +from typing import Optional, Union, Any, List, TypeVar, Type, Callable, cast + +T = TypeVar("T") +EnumT = TypeVar("EnumT", bound=Enum) + + +def from_str(x: Any) -> str: + assert isinstance(x, str) + return x + + +def from_none(x: Any) -> Any: + assert x is None + return x + + +def from_union(fs, x): + for f in fs: + try: + return f(x) + except Exception: + pass + assert False + + +def from_bool(x: Any) -> bool: + assert isinstance(x, bool) + return x + + +def from_float(x: Any) -> float: + assert isinstance(x, (float, int)) and not isinstance(x, bool) + return float(x) + + +def to_enum(c: Type[EnumT], x: Any) -> EnumT: + assert isinstance(x, c) + return x.value + + +def to_float(x: Any) -> float: + assert isinstance(x, (int, float)) + return x + + +def from_list(f: Callable[[Any], T], x: Any) -> List[T]: + assert isinstance(x, list) + return [f(y) for y in x] + + +def to_class(c: Type[T], x: Any) -> dict: + assert isinstance(x, c) + return cast(Any, x).to_dict() + + +class TypeEnum(Enum): + """The type of this configuration option""" + + NUMBER = "number" + STRING = "string" + + +class Configuration: + name: Optional[str] + """Unique name of this configuration option""" + + tunable: Optional[bool] + """Whether or not this value can be tuned (ota)""" + + type: Optional[TypeEnum] + """The type of this configuration option""" + + value: Optional[Union[float, str]] + """The value of this configuration option, which can be a string or float""" + + def __init__(self, name: Optional[str], tunable: Optional[bool], type: Optional[TypeEnum], value: Optional[Union[float, str]]) -> None: + self.name = name + self.tunable = tunable + self.type = type + self.value = value + + @staticmethod + def from_dict(obj: Any) -> 'Configuration': + assert isinstance(obj, dict) + name = from_union([from_str, from_none], obj.get("name")) + tunable = from_union([from_bool, from_none], obj.get("tunable")) + type = from_union([TypeEnum, from_none], obj.get("type")) + value = from_union([from_float, from_str, from_none], obj.get("value")) + return Configuration(name, tunable, type, value) + + def to_dict(self) -> dict: + result: dict = {} + if self.name is not None: + result["name"] = from_union([from_str, from_none], self.name) + if self.tunable is not None: + result["tunable"] = from_union([from_bool, from_none], self.tunable) + if self.type is not None: + result["type"] = from_union([lambda x: to_enum(TypeEnum, x), from_none], self.type) + if self.value is not None: + result["value"] = from_union([to_float, from_str, from_none], self.value) + return result + + +class Stream: + address: Optional[str] + """The (zmq) socket address that input can be read on""" + + name: Optional[str] + """The name of the stream as outputted by the dependency service""" + + def __init__(self, address: Optional[str], name: Optional[str]) -> None: + self.address = address + self.name = name + + @staticmethod + def from_dict(obj: Any) -> 'Stream': + assert isinstance(obj, dict) + address = from_union([from_str, from_none], obj.get("address")) + name = from_union([from_str, from_none], obj.get("name")) + return Stream(address, name) + + def to_dict(self) -> dict: + result: dict = {} + if self.address is not None: + result["address"] = from_union([from_str, from_none], self.address) + if self.name is not None: + result["name"] = from_union([from_str, from_none], self.name) + return result + + +class Input: + service: Optional[str] + """The name of the service for this dependency""" + + streams: Optional[List[Stream]] + + def __init__(self, service: Optional[str], streams: Optional[List[Stream]]) -> None: + self.service = service + self.streams = streams + + @staticmethod + def from_dict(obj: Any) -> 'Input': + assert isinstance(obj, dict) + service = from_union([from_str, from_none], obj.get("service")) + streams = from_union([lambda x: from_list(Stream.from_dict, x), from_none], obj.get("streams")) + return Input(service, streams) + + def to_dict(self) -> dict: + result: dict = {} + if self.service is not None: + result["service"] = from_union([from_str, from_none], self.service) + if self.streams is not None: + result["streams"] = from_union([lambda x: from_list(lambda x: to_class(Stream, x), x), from_none], self.streams) + return result + + +class Output: + address: Optional[str] + """The (zmq) socket address that output can be written to""" + + name: Optional[str] + """Name of the output published by this service""" + + def __init__(self, address: Optional[str], name: Optional[str]) -> None: + self.address = address + self.name = name + + @staticmethod + def from_dict(obj: Any) -> 'Output': + assert isinstance(obj, dict) + address = from_union([from_str, from_none], obj.get("address")) + name = from_union([from_str, from_none], obj.get("name")) + return Output(address, name) + + def to_dict(self) -> dict: + result: dict = {} + if self.address is not None: + result["address"] = from_union([from_str, from_none], self.address) + if self.name is not None: + result["name"] = from_union([from_str, from_none], self.name) + return result + + +class Tuning: + address: Optional[str] + """(If enabled) the (zmq) socket address that tuning data can be read from""" + + enabled: Optional[bool] + """Whether or not live (ota) tuning is enabled""" + + def __init__(self, address: Optional[str], enabled: Optional[bool]) -> None: + self.address = address + self.enabled = enabled + + @staticmethod + def from_dict(obj: Any) -> 'Tuning': + assert isinstance(obj, dict) + address = from_union([from_str, from_none], obj.get("address")) + enabled = from_union([from_bool, from_none], obj.get("enabled")) + return Tuning(address, enabled) + + def to_dict(self) -> dict: + result: dict = {} + if self.address is not None: + result["address"] = from_union([from_str, from_none], self.address) + if self.enabled is not None: + result["enabled"] = from_union([from_bool, from_none], self.enabled) + return result + + +class Service: + """The object that injected into a rover process by roverd and then parsed by roverlib to be + made available for the user process + """ + configuration: List[Configuration] + inputs: List[Input] + """The resolved input dependencies""" + + name: Optional[str] + """The name of the service (only lowercase letters and hyphens)""" + + outputs: List[Output] + tuning: Tuning + version: Optional[str] + """The specific version of the service""" + + service: Any + + def __init__(self, configuration: List[Configuration], inputs: List[Input], name: Optional[str], outputs: List[Output], tuning: Tuning, version: Optional[str], service: Any) -> None: + self.configuration = configuration + self.inputs = inputs + self.name = name + self.outputs = outputs + self.tuning = tuning + self.version = version + self.service = service + + @staticmethod + def from_dict(obj: Any) -> 'Service': + assert isinstance(obj, dict) + configuration = from_list(Configuration.from_dict, obj.get("configuration")) + inputs = from_list(Input.from_dict, obj.get("inputs")) + name = from_union([from_str, from_none], obj.get("name")) + outputs = from_list(Output.from_dict, obj.get("outputs")) + tuning = Tuning.from_dict(obj.get("tuning")) + version = from_union([from_str, from_none], obj.get("version")) + service = obj.get("service") + return Service(configuration, inputs, name, outputs, tuning, version, service) + + def to_dict(self) -> dict: + result: dict = {} + result["configuration"] = from_list(lambda x: to_class(Configuration, x), self.configuration) + result["inputs"] = from_list(lambda x: to_class(Input, x), self.inputs) + if self.name is not None: + result["name"] = from_union([from_str, from_none], self.name) + result["outputs"] = from_list(lambda x: to_class(Output, x), self.outputs) + result["tuning"] = to_class(Tuning, self.tuning) + if self.version is not None: + result["version"] = from_union([from_str, from_none], self.version) + result["service"] = self.service + return result + +def service_from_dict(s: Any) -> Service: + return Service.from_dict(s) + + +def service_to_dict(x: Service) -> Any: + return to_class(Service, x) diff --git a/src/roverlib/callbacks.py b/src/roverlib/callbacks.py new file mode 100644 index 0000000..5e16201 --- /dev/null +++ b/src/roverlib/callbacks.py @@ -0,0 +1,7 @@ +import signal +from typing import Callable +from roverlib.configuration import Service, ServiceConfiguration + +MainCallback = Callable[[Service, ServiceConfiguration], None] + +TerminationCallback = Callable[[signal.Signals], None] diff --git a/src/roverlib/configuration.py b/src/roverlib/configuration.py new file mode 100644 index 0000000..f9839a5 --- /dev/null +++ b/src/roverlib/configuration.py @@ -0,0 +1,82 @@ +import threading +import time +from loguru import logger +from roverlib.bootinfo import Service, TypeEnum + + +class ServiceConfiguration: + def __init__(self): + self.float_options : dict[str, float] = {} + self.string_options : dict[str, str] = {} + self.tunable : dict[str, bool] = {} + self.lock = threading.RLock() + self.last_update : int = int(time.time() * 1000) + + # Returns the float value of the configuration option with the given name, returns an error if the option does not exist or does not exist for this type + # Reading is NOT thread-safe, but we accept the risks because we assume that the user program will read the configuration values repeatedly + # If you want to read the configuration values concurrently, you should use the GetFloatSafe method + def GetFloat(self, name : str) -> float: + logger.debug(self.float_options) + if name not in self.float_options: + logger.critical(f"No float configuration option with name {name}") + raise NameError(f"No float configuration option with name {name}") + + return self.float_options[name] + + def GetFloatSafe(self, name : str) -> float: + with self.lock: + return self.GetFloat(name) + + + # Returns the string value of the configuration option with the given name, returns an error if the option does not exist or does not exist for this type + # Reading is NOT thread-safe, but we accept the risks because we assume that the user program will read the configuration values repeatedly + # If you want to read the configuration values concurrently, you should use the GetStringSafe method + def GetString(self, name : str) -> str: + if name not in self.string_options: + logger.critical(f"No string configuration option with name {name}") + raise NameError(f"No string configuration option with name {name}") + + return self.string_options[name] + + def GetStringSafe(self, name : str) -> str: + with self.lock: + return self.GetString(name) + + # Set the float value of the configuration option with the given name (thread-safe) + def _SetFloat(self, name : str, value : float): + with self.lock: + if name in self.tunable: + if name not in self.float_options: + logger.error(f"{name} : {value} Is not of type Float") + self.float_options[name] = value + logger.info(f"{name} : {value} Set float configuration option") + else: + logger.error(f"{name} : {value} Attempted to set non-tunable float configuration option") + + # Set the string value of the configuration option with the given name (thread-safe) + def _SetString(self, name : str, value : str): + with self.lock: + if name in self.tunable: + if name not in self.string_options: + logger.error(f"{name} : {value} Is not of type String") + return None + self.float_options[name] = value + logger.info(f"{name} : {value} Set string configuration option") + else: + logger.error(f"{name} : {value} Attempted to set non-tunable string configuration option") + + + +def NewServiceConfiguration(service : Service) -> ServiceConfiguration: + config = ServiceConfiguration() + for c in service.configuration: + + if c.type == TypeEnum.NUMBER: + config.float_options[c.name] = c.value + elif c.type == TypeEnum.STRING: + config.string_options[c.name] = c.value + + if c.tunable is True: + config.tunable[c.name] = c.tunable + + return config diff --git a/src/roverlib/index.py b/src/roverlib/index.py new file mode 100644 index 0000000..0d4cf56 --- /dev/null +++ b/src/roverlib/index.py @@ -0,0 +1,133 @@ +import argparse +import os +import signal +import sys +import threading +import time +import json +from roverlib.bootinfo import Service, service_from_dict +from roverlib.callbacks import MainCallback, TerminationCallback +from roverlib.configuration import ServiceConfiguration, NewServiceConfiguration +import zmq +from loguru import logger +import roverlib.rovercom as rovercom + + + +def handle_signals(on_terminate: TerminationCallback): + def signal_handler(sig, frame): + logger.warning(f"Signal received: {sig}") + + # callback to the service + on_terminate(sig) + + # catch SIGTERM or SIGINT + signal.signal(signal.SIGTERM, signal_handler) + signal.signal(signal.SIGINT, signal_handler) + + logger.info("Listening for signals...") + + +# Configures log level and output +def setup_logging(debug: bool, output_path: str, service_name="unknown"): + + logger.remove() + log_format = "{time: HH:mm} {level} [%s] {file}:{line} > {message}" % service_name + + # set level + logger.add(sys.stderr, format=log_format, level="DEBUG" if debug else "INFO", colorize=True) + + if output_path: + logger.add(output_path, format=log_format, level="DEBUG" if debug else "INFO") + logger.info(f"Logging to file {output_path}") + + logger.info("Logger initialized") + + +def ota_tuning(service : Service, configuration : ServiceConfiguration): + context = zmq.Context() + while True: + logger.info("Attempting to subscribe to OTA tuning service at %s" % service.tuning.address) + # Initialize zmq socket to retrieve OTA tuning values from the service responsible for this + + socket = context.socket(zmq.SUB) + + try: + socket.connect(service.tuning.address) + # subscribe to all messages + socket.setsockopt_string(zmq.SUBSCRIBE, "") + except zmq.ZMQError as e: + logger.error(f"Failed to connect/subscribe to OTA tuning service: {e}") + socket.close() + time.sleep(5) + continue + + while True: + logger.info("Waiting for new tuning values") + + # Receive new configuration, and update this in the shared configuration + res = socket.recv() + + logger.info("Received new tuning values") + + # convert from over-the-wire format to TuningState struct + tuning : rovercom.TuningState = rovercom.TuningState().parse(res) + + # Is the timestamp later than the last update? + if(tuning.timestamp <= configuration.last_update): + logger.info("Received new tuning values with an outdated timestamp, ignoring...") + continue + + # Update the configuration (will ignore values that are not tunable) + for p in tuning.dynamic_parameters: + if p.number: + logger.info("%s : %s Setting tuning value", p.number.key, p.number.value) + configuration._SetFloat(p.number.key, p.number.value) + elif p.string: + logger.info("%s : %f Setting tuning value", p.string.key, p.string.value) + configuration._SetString(p.string.key, p.string.value) + else: + logger.warning("Unknown tuning value type") + + +def Run(main: MainCallback, on_terminate: TerminationCallback): + # parse args + parser = argparse.ArgumentParser() + parser.add_argument("--debug", action="store_true", help="show all logs (including debug)") + parser.add_argument("--output", type=str, default="", help="path of the output file to log to") + + args = parser.parse_args() + + debug = args.debug + output = args.output + + # Fetch and parse service definition as injected by roverd + definition = os.getenv("ASE_SERVICE") + if definition is None: + raise RuntimeError("No service definition found in environment variable ASE_SERVICE. Are you sure that this service is started by roverd?") + + service_dict = json.loads(definition) + service = service_from_dict(service_dict) + + + + # enable logging using loguru + setup_logging(debug, output, service.name) + + + + # setup for catching SIGTERM and SIGINT, once setup this will run in the background; no active thread needed + handle_signals(on_terminate) + + # Create a configuration for this service that will be shared with the user program + configuration = NewServiceConfiguration(service) + + # Support ota tuning in this thread + # (the user program can fetch the latest value from the configuration) + if service.tuning.enabled: + thread_tuning = threading.Thread(target=ota_tuning, args=(service, configuration), daemon=True) + thread_tuning.start() + + # Run the user program + main(service, configuration) + diff --git a/src/roverlib/py.typed b/src/roverlib/py.typed new file mode 100644 index 0000000..e69de29 diff --git a/src/roverlib/rovercom.py b/src/roverlib/rovercom.py new file mode 100644 index 0000000..89525a3 --- /dev/null +++ b/src/roverlib/rovercom.py @@ -0,0 +1,345 @@ +# Generated by the protocol buffer compiler. DO NOT EDIT! +# sources: control/control.proto, debug/debug.proto, infrastructure/finish-line.proto, outputs/battery.proto, outputs/camera.proto, outputs/controller.proto, outputs/distance.proto, outputs/imu.proto, outputs/laptime.proto, outputs/lux.proto, outputs/rpm.proto, outputs/speed.proto, outputs/wrapper.proto, segmentation/segmentation.proto, simulator/simulator.proto, tuning/tuning.proto +# plugin: python-betterproto +from dataclasses import dataclass +from typing import List + +import betterproto + + +class DetectedObjects(betterproto.Enum): + """Possible Objects the Imaging Module may detect""" + + FINISH_LINE = 0 + OFF_TRACK = 1 + OBSTACLE = 2 + INTERSECTION = 3 + MISSING_LEFT_LANE = 4 + MISSING_RIGHT_LANE = 5 + SHARP_RIGHT = 6 + SHARP_LEFT = 7 + U_TURN = 8 + S_TURN = 9 + + +class SimStatus(betterproto.Enum): + """Possible Sim Requests. Useful for interfaces with Gym""" + + SIM_PAUSED = 0 + SIM_REQ_STEP = 1 + SIM_REQ_RESET = 2 + + +@dataclass +class ConnectionState(betterproto.Message): + """Tell a client if a given client/rover is connected or not""" + + client: str = betterproto.string_field(1) + connected: bool = betterproto.bool_field(2) + timestamp_offset: int = betterproto.int64_field(3) + + +@dataclass +class ControlError(betterproto.Message): + message: str = betterproto.string_field(1) + timestamp: int = betterproto.int64_field(2) + + +@dataclass +class ServiceIdentifier(betterproto.Message): + """Used to identify a service within the pipeline""" + + name: str = betterproto.string_field(1) + pid: int = betterproto.int32_field(2) + + +@dataclass +class ServiceEndpoint(betterproto.Message): + """An endpoint that is made available by a service""" + + name: str = betterproto.string_field(1) + address: str = betterproto.string_field(2) + + +@dataclass +class DebugOutput(betterproto.Message): + """ + When the transceivers picks up a SensorOutput from a service, it will wrap + it in a ServiceMessage message, so that the receiver can determine from + which process the message originated + """ + + service: "ServiceIdentifier" = betterproto.message_field(1) + endpoint: "ServiceEndpoint" = betterproto.message_field(2) + sent_at: int = betterproto.int64_field(4) + message: bytes = betterproto.bytes_field(3) + + +@dataclass +class FinishLineEvent(betterproto.Message): + timestamp: int = betterproto.uint64_field(1) + + +@dataclass +class BatterySensorOutput(betterproto.Message): + current_output_voltage: float = betterproto.float_field(1) + warn_voltage: float = betterproto.float_field(2) + kill_voltage: float = betterproto.float_field(3) + + +@dataclass +class CanvasObject(betterproto.Message): + line: "CanvasObjectLine" = betterproto.message_field(1, group="object") + rectangle: "CanvasObjectRectangle" = betterproto.message_field(2, group="object") + circle: "CanvasObjectCircle" = betterproto.message_field(3, group="object") + + +@dataclass +class CanvasObjectPoint(betterproto.Message): + x: int = betterproto.uint32_field(1) + y: int = betterproto.uint32_field(2) + + +@dataclass +class CanvasObjectColor(betterproto.Message): + r: int = betterproto.uint32_field(1) + g: int = betterproto.uint32_field(2) + b: int = betterproto.uint32_field(3) + a: int = betterproto.uint32_field(4) + + +@dataclass +class CanvasObjectLine(betterproto.Message): + start: "CanvasObjectPoint" = betterproto.message_field(1) + end: "CanvasObjectPoint" = betterproto.message_field(2) + width: int = betterproto.uint32_field(3) + color: "CanvasObjectColor" = betterproto.message_field(4) + + +@dataclass +class CanvasObjectRectangle(betterproto.Message): + top_left: "CanvasObjectPoint" = betterproto.message_field(1) + bottom_right: "CanvasObjectPoint" = betterproto.message_field(2) + width: int = betterproto.uint32_field(3) + color: "CanvasObjectColor" = betterproto.message_field(4) + + +@dataclass +class CanvasObjectCircle(betterproto.Message): + center: "CanvasObjectPoint" = betterproto.message_field(1) + radius: int = betterproto.uint32_field(2) + width: int = betterproto.uint32_field(3) + color: "CanvasObjectColor" = betterproto.message_field(4) + + +@dataclass +class Canvas(betterproto.Message): + width: int = betterproto.uint32_field(1) + height: int = betterproto.uint32_field(2) + objects: List["CanvasObject"] = betterproto.message_field(3) + + +@dataclass +class CameraSensorOutput(betterproto.Message): + """ + The following sensor outputs are specific to the sensor type, bring your + own sensor and add your own output here! + """ + + trajectory: "CameraSensorOutputTrajectory" = betterproto.message_field(1) + debug_frame: "CameraSensorOutputDebugFrame" = betterproto.message_field(2) + objects: "CameraSensorOutputObjects" = betterproto.message_field(3) + + +@dataclass +class CameraSensorOutputTrajectory(betterproto.Message): + """Defined by the Path Planner""" + + points: List["CameraSensorOutputTrajectoryPoint"] = betterproto.message_field(1) + width: int = betterproto.uint32_field(2) + height: int = betterproto.uint32_field(3) + + +@dataclass +class CameraSensorOutputTrajectoryPoint(betterproto.Message): + x: int = betterproto.int32_field(1) + y: int = betterproto.int32_field(2) + + +@dataclass +class CameraSensorOutputDebugFrame(betterproto.Message): + jpeg: bytes = betterproto.bytes_field(1) + # if image livestreaming is disabled, or imaging module wants to draw + # additional information on the image, it can be done here + canvas: "Canvas" = betterproto.message_field(5) + + +@dataclass +class CameraSensorOutputObjects(betterproto.Message): + items: List["DetectedObjects"] = betterproto.enum_field(1) + + +@dataclass +class ControllerOutput(betterproto.Message): + # Steering angle (-1.0 to 1.0 <-> left - right) + steering_angle: float = betterproto.float_field(2) + # Throttle (-1.0 to 1.0 <-> full reverse - full forward) + left_throttle: float = betterproto.float_field(3) + right_throttle: float = betterproto.float_field(4) + # Onboard lights (0.0 to 1.0 <-> off - on) + front_lights: bool = betterproto.bool_field(5) + # Fan speed (0.0 to 1.0 <-> off - full speed) + fan_speed: float = betterproto.float_field(6) + # Useful for debugging + raw_error: float = betterproto.float_field(7) + scaled_error: float = betterproto.float_field(8) + + +@dataclass +class DistanceSensorOutput(betterproto.Message): + # distance in meters + distance: float = betterproto.float_field(1) + + +@dataclass +class ImuSensorOutput(betterproto.Message): + temperature: int = betterproto.int32_field(1) + magnetometer: "ImuSensorOutputVector" = betterproto.message_field(2) + gyroscope: "ImuSensorOutputVector" = betterproto.message_field(3) + euler: "ImuSensorOutputVector" = betterproto.message_field(4) + accelerometer: "ImuSensorOutputVector" = betterproto.message_field(5) + linear_accelerometer: "ImuSensorOutputVector" = betterproto.message_field(6) + velocity: "ImuSensorOutputVector" = betterproto.message_field(7) + speed: float = betterproto.float_field(8) + + +@dataclass +class ImuSensorOutputVector(betterproto.Message): + x: float = betterproto.float_field(1) + y: float = betterproto.float_field(2) + z: float = betterproto.float_field(3) + + +@dataclass +class LapTimeOutput(betterproto.Message): + lap_time: int = betterproto.uint64_field(1) + lap_start_time: int = betterproto.uint64_field(2) + + +@dataclass +class LuxSensorOutput(betterproto.Message): + lux: int = betterproto.int32_field(1) + + +@dataclass +class RpmSensorOutput(betterproto.Message): + left_rpm: float = betterproto.float_field(1) + left_angle: float = betterproto.float_field(2) + right_rpm: float = betterproto.float_field(3) + right_angle: float = betterproto.float_field(4) + + +@dataclass +class SpeedSensorOutput(betterproto.Message): + rpm: int = betterproto.int32_field(1) + + +@dataclass +class SensorOutput(betterproto.Message): + # Every sensor has a unique ID to support multiple sensors of the same type + sensor_id: int = betterproto.uint32_field(1) + # Add a timestamp to the output to make debugging, logging and + # synchronisation easier + timestamp: int = betterproto.uint64_field(2) + # Report an error if the sensor is not working correctly (controller can + # decide to ignore or stop the car) 0 = no error, any other value = error + status: int = betterproto.uint32_field(3) + camera_output: "CameraSensorOutput" = betterproto.message_field( + 4, group="sensorOutput" + ) + distance_output: "DistanceSensorOutput" = betterproto.message_field( + 5, group="sensorOutput" + ) + speed_output: "SpeedSensorOutput" = betterproto.message_field( + 6, group="sensorOutput" + ) + controller_output: "ControllerOutput" = betterproto.message_field( + 7, group="sensorOutput" + ) + imu_output: "ImuSensorOutput" = betterproto.message_field(8, group="sensorOutput") + battery_output: "BatterySensorOutput" = betterproto.message_field( + 9, group="sensorOutput" + ) + rpm_ouput: "RpmSensorOutput" = betterproto.message_field(10, group="sensorOutput") + lux_output: "LuxSensorOutput" = betterproto.message_field(11, group="sensorOutput") + laptime_output: "LapTimeOutput" = betterproto.message_field( + 12, group="sensorOutput" + ) + + +@dataclass +class Segment(betterproto.Message): + """ + Control messages exchanged by client(s), the server and the car to send + data in multiple segments + """ + + packet_id: int = betterproto.int64_field(1) + segment_id: int = betterproto.int64_field(2) + total_segments: int = betterproto.int64_field(3) + data: bytes = betterproto.bytes_field(4) + + +@dataclass +class SimulatorImageOutput(betterproto.Message): + """Simulator sensor outputs.""" + + width: int = betterproto.uint32_field(2) + height: int = betterproto.uint32_field(3) + pixels: bytes = betterproto.bytes_field(4) + + +@dataclass +class SimulatorState(betterproto.Message): + """Generic state of Simulator""" + + speed: float = betterproto.float_field(1) + wheel_off_track: List[bool] = betterproto.bool_field(2) + image: "SimulatorImageOutput" = betterproto.message_field(3) + pos: List[float] = betterproto.float_field(4) + is_drifting: bool = betterproto.bool_field(5) + + +@dataclass +class TuningState(betterproto.Message): + timestamp: int = betterproto.uint64_field(1) + dynamic_parameters: List["TuningStateParameter"] = betterproto.message_field(2) + + +@dataclass +class TuningStateParameter(betterproto.Message): + number: "TuningStateParameterNumberParameter" = betterproto.message_field( + 1, group="parameter" + ) + string: "TuningStateParameterStringParameter" = betterproto.message_field( + 3, group="parameter" + ) + + +@dataclass +class TuningStateParameterNumberParameter(betterproto.Message): + """ + note: it may seem weird to not extract the key from the oneof, but this is + so that the parser can easily determine the type of the parameter + extracting it to a separate field on the same level as oneof would make it + ambiguous + """ + + key: str = betterproto.string_field(1) + value: float = betterproto.float_field(2) + + +@dataclass +class TuningStateParameterStringParameter(betterproto.Message): + key: str = betterproto.string_field(1) + value: str = betterproto.string_field(2) diff --git a/src/roverlib/streams.py b/src/roverlib/streams.py new file mode 100644 index 0000000..d24fb1e --- /dev/null +++ b/src/roverlib/streams.py @@ -0,0 +1,208 @@ +import zmq +import roverlib.rovercom as rovercom +from roverlib.bootinfo import Service +from loguru import logger + +CONTEXT = zmq.Context() + + + +class ServiceStream: + def __init__(self, address : str, sock_type : zmq.Socket): + self.address = address # zmq address + self.socket = None # initialized as None, before lazy loading + self.sock_type = sock_type + self.bytes = 0 # amount of bytes read/written so far + + + + +class WriteStream: + def __init__(self, stream : ServiceStream): + self.stream = stream + + # Initial setup of the stream (done lazily, on the first write) + def _initialize(self): + s = self.stream + + # already initialized + if s.socket is not None: + return + + try: + #create a new socket + socket = CONTEXT.socket(s.sock_type) + socket.bind(s.address) + except zmq.ZMQError as e: + if socket: + socket.close() + logger.critical(f"Failed to create/bind write socket at {s.address}: {str(e)}") + raise zmq.ZMQError(f"Failed to create/bind write socket at {s.address}: {str(e)}") + + s.socket = socket + s.bytes = 0 + + # Write byte data to the stream + def WriteBytes(self, data : bytes): + s = self.stream + + if s.socket is None: + self._initialize() + + # Check if the socket writable + if s.sock_type != zmq.PUB: + logger.critical("Cannot write to a read-only stream") + raise TypeError("Cannot write to a read-only stream") + + try: + # Write the data + s.socket.send(data) + except zmq.ZMQError as e: + logger.critical(f"Failed to write to stream: {str(e)}") + raise zmq.ZMQError(f"Failed to write to stream: {str(e)}") + + if isinstance(data, (bytes, str)): + s.bytes += len(data) + else: + s.bytes += 1 + + + # Write a rovercom sensor output message to the stream + def Write(self, output : rovercom.SensorOutput): + if output is None: + logger.critical("Cannot write nil output") + raise ValueError("Cannot write nil output") + + try: + # Convert to over-the-wire format + buf = output.SerializeToString() + except Exception as e: + logger.critical(f"Failed to serialize sensor data: {str(e)}") + raise RuntimeError(f"Failed to serialize sensor data: {str(e)}") + + # Write the data + return self.WriteBytes(buf) + +class ReadStream: + def __init__(self, stream : ServiceStream): + self.stream = stream + + # initial setup of the stream (done lazily, on the first read) + def _initialize(self): + s = self.stream + + # Already initialized + if s.socket is not None: + return + + try: + # Create a new socket + socket = CONTEXT.socket(s.sock_type) + socket.connect(s.address) + socket.setsockopt_string(zmq.SUBSCRIBE, "") + except zmq.ZMQError as e: + if socket: + socket.close() + logger.critical(f"Failed to create/connect/subscribe read socket at {s.address}: {str(e)}") + raise zmq.ZMQError(f"Failed to create/connect/subscribe read socket at {s.address}: {str(e)}") + + s.socket = socket + s.bytes = 0 + + # Read byte data from the stream + def ReadBytes(self) -> bytes: + s = self.stream + + if s.socket is None: + self._initialize() + + # Check if the socket is readable + if s.sock_type != zmq.SUB: + logger.critical("Cannot write to a read-only stream") + raise TypeError("Cannot write to a read-only stream") + + try: + # Read the data + data = s.socket.recv() + except zmq.ZMQError as e: + logger.critical(f"failed to read from stream: {str(e)}") + raise zmq.ZMQError(f"failed to read from stream: {str(e)}") + + s.bytes += len(data) + return data + + # Read a rovercom sensor output message from the stream + def Read(self) -> rovercom.SensorOutput: + # Read the Data + buf = self.ReadBytes() + + try: + # Convert from over-the-wire format + output = rovercom.SensorOutput().parse(buf) + except Exception as e: + logger.critical(f"Failed to parse sensor data: {str(e)}") + raise RuntimeError(f"Failed to parse sensor data: {str(e)}") + + return output + + +# Map of all already handed out streams to the user program (to preserve singletons) +write_streams : dict[str, WriteStream] = {} +read_streams : dict[str, ReadStream] = {} + + + +# Get a stream that you can write to (i.e. an output stream). +# This function throws an error if the stream does not exist. +def GetWriteStream(self : Service, name : str) -> WriteStream: + # Is this stream already handed out? + if name in write_streams: + return write_streams[name] + + # Does this stream exist? + for output in self.outputs: + if output.name == name: + # ZMQ wants to bind write streams to tcp://*:port addresses, so if roverd gave us a localhost, we need to change it to * + address = output.address.replace("localhost", "*", 1) + + # Create a new stream + stream = ServiceStream(address, zmq.PUB) + + res = WriteStream(stream) + write_streams[name] = res + return res + + logger.critical(f"Output stream {name} does not exist. Update your program code or service.yaml") + raise NameError(f"Output stream {name} does not exist. Update your program code or service.yaml") + + +# Get a stream that you can read from (i.e. an input stream). +# This function throws an error if the stream does not exist. +def GetReadStream(self : Service, service : str, name : str) -> ReadStream: + stream_name = f"{service}-{name}" + + # Is this stream already handed out? + if stream_name in read_streams: + return read_streams[stream_name] + + # Does this stream exist + for input in self.inputs: + if input.service == service: + for stream in input.streams: + if stream.name == name: + + # Create a new stream + stream = ServiceStream(stream.address, zmq.SUB) + + res = ReadStream(stream) + read_streams[stream_name] = res + return res + + logger.critical(f"Input stream {stream_name} does not exist. Update your program code or service.yaml") + raise NameError(f"Input stream {stream_name} does not exist. Update your program code or service.yaml") + + +# Attach to Service object +Service.GetWriteStream = GetWriteStream +Service.GetReadStream = GetReadStream + \ No newline at end of file diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/tests/basic.py b/tests/basic.py new file mode 100644 index 0000000..108a66f --- /dev/null +++ b/tests/basic.py @@ -0,0 +1,87 @@ +""" +Basic tests +""" + +import roverlib as rover +import time +import signal +from loguru import logger +import roverlib.rovercom as rovercom +import threading +from .testing import inject_valid_service + +runThread = True + + + + +def send_continuous(stream : rover.WriteStream): + while runThread: + time.sleep(1) + stream.Write( + rovercom.SensorOutput( + sensor_id=2, + timestamp=int(time.time() * 1000), + controller_output=rovercom.ControllerOutput( + steering_angle=float(1), + left_throttle=float(0), + right_throttle=float(0), + front_lights=False + ), + ) + ) + +def run(service : rover.Service, configuration : rover.ServiceConfiguration): + time.sleep(1) + + speed = configuration.GetFloatSafe("speed") + logger.info(speed) + assert speed == 1.5 + + + ll = configuration.GetStringSafe("log-level") + logger.info(ll) + assert ll == "debug" + + maxIt = configuration.GetFloat("max-iterations") + logger.info(maxIt) + assert maxIt == 100 + + ###################################################### + + wr : rover.WriteStream = service.GetWriteStream("motor_movement") + rd : rover.ReadStream = service.GetReadStream("imaging", "track_data") + + + thread_send = threading.Thread(target=send_continuous, args=(wr,), daemon=True) + thread_send.start() + + + + output = rd.Read() + + global runThread + runThread = False + + + assert output.sensor_id == 2 + + + + + + + + +def onTerminate(sig : signal): + logger.info("Terminating") + return None + + + +inject_valid_service() + + +rover.Run(run, onTerminate) + + diff --git a/tests/testing.py b/tests/testing.py new file mode 100644 index 0000000..d8f958a --- /dev/null +++ b/tests/testing.py @@ -0,0 +1,40 @@ +import os +import json + +def inject_valid_service(): + service = { + "name": "controller", + "version": "1.0.1", + "inputs": [ + { + "service": "imaging", + "streams": [ + {"name": "track_data", "address": "tcp://localhost:7882"}, #7890 + {"name": "debug_info", "address": "tcp://unix:7891"} + ] + }, + { + "service": "navigation", + "streams": [ + {"name": "location_data", "address": "tcp://unix:7892"} + ] + } + ], + "outputs": [ + {"name": "motor_movement", "address": "tcp://*:7882"}, + {"name": "sensor_data", "address": "tcp://unix:7883"} + ], + "configuration": [ + {"name": "max-iterations", "type": "number", "tunable": True, "value": 100}, + {"name": "speed", "type": "number", "tunable": True, "value": 1.5}, + {"name": "log-level", "type": "string", "tunable": False, "value": "debug"} + ], + "tuning": { + "enabled": True, + "address": "tcp://localhost:8829" + } + } + + os.environ["ASE_SERVICE"] = json.dumps(service) + + diff --git a/tests/tuning.py b/tests/tuning.py new file mode 100644 index 0000000..2f8f7d2 --- /dev/null +++ b/tests/tuning.py @@ -0,0 +1,58 @@ +""" +tests for tuning +""" + + +import roverlib as rover +import time +import signal +from loguru import logger +import roverlib.rovercom as rovercom +import zmq +from .testing import inject_valid_service + + + +def run(service : rover.Service, configuration : rover.ServiceConfiguration): + ###################################################### + + time.sleep(2) + + context = zmq.Context() + + socket = context.socket(zmq.PUB) + socket.bind("tcp://*:8829") + + assert abs(configuration.GetFloatSafe("speed") - 1.5) < 0.01 + + + tuning = rovercom.TuningState(timestamp=int(time.time() * 1000), dynamic_parameters=[ + rovercom.TuningStateParameter(number=rovercom.TuningStateParameterNumberParameter(key="speed",value=1.1)) + ] + ).SerializeToString() + + for i in range(5): + socket.send(tuning) + time.sleep(0.05) + + + assert abs(configuration.GetFloatSafe("speed") - 1.1) < 0.01 + + + + + + + + +def onTerminate(sig : signal): + logger.info("Terminating") + return None + + + + +inject_valid_service() + + +rover.Run(run, onTerminate) diff --git a/uv.lock b/uv.lock new file mode 100644 index 0000000..848d4f6 --- /dev/null +++ b/uv.lock @@ -0,0 +1,457 @@ +version = 1 +revision = 1 +requires-python = ">=3.10" + +[[package]] +name = "betterproto" +version = "1.2.5" +source = { registry = "https://pypi.org/simple/" } +dependencies = [ + { name = "grpclib" }, + { name = "stringcase" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/ff/2e/abfed7a721928e14aeb900182ff695be474c4ee5f07ef0874cc5ecd5b0b1/betterproto-1.2.5.tar.gz", hash = "sha256:74a3ab34646054f674d236d1229ba8182dc2eae86feb249b8590ef496ce9803d", size = 26098 } + +[[package]] +name = "cffi" +version = "1.17.1" +source = { registry = "https://pypi.org/simple/" } +dependencies = [ + { name = "pycparser" }, +] +sdist 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