feat(python): expand Python bindings with actions, SHM, graph, QoS, and generic bridge#110
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YuanYuYuan wants to merge 12 commits intomainfrom
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feat(python): expand Python bindings with actions, SHM, graph, QoS, and generic bridge#110YuanYuYuan wants to merge 12 commits intomainfrom
YuanYuYuan wants to merge 12 commits intomainfrom
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…nd generic bridge Closes the gap between the Python API and Rust API: - Generic message bridge (RawBytesMessage/RawBytesCdrSerdes): any registered message type works for pub/sub and services without per-type factory match statements - Action client/server (PyZActionClient, PyZActionServer): full Python↔Python action support via RawBytesAction/DynActionMessage; uses a global tokio runtime for async ops - Graph discovery: get_topic_names_and_types, get_node_names, get_service_names_and_types, count_publishers, count_subscribers - QoS class (PyQosProfile): type-safe Python QoS with presets and backward-compatible dict support - Context builder: full builder with mode, router, remap, enclave, SHM (with_shm_enabled, with_shm_pool_size, with_shm_threshold), and clean shutdown - Callback subscriptions: create_subscriber(callback=fn) pattern - Node properties: name, namespace, fully_qualified_name - Fix check-example-coverage.nu path after crates/ reorganization
Add with_goal_type_info / with_result_type_info / with_feedback_type_info to ZActionClientBuilder and ZActionServerBuilder so callers can supply type hashes determined at runtime (e.g. from Python message classes). Also relax extract_type_info_from_class to treat __hash__ as optional: inline msgspec structs without a RIHS01 hash now use zero TypeHash and work for Python-to-Python communication without raising an error.
- examples/action_demo.py: CountTo action demo with cancellation support - tests/test_action.py: 7 test cases covering creation, send/result, feedback, status, cancellation, rejection, abort, and timeout - book/src/chapters/python.md: Actions section with message types, server/client lifecycle, GoalStatus table, and interop note
…cle" This reverts commit a79043f.
…gram" This reverts commit 0e55a93.
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…gs registry Inline msgspec types (like test action types) are not registered in the ros_z_msgs type registry, causing 'Unknown message type' errors in CI. Switch action goal/result/feedback serialization to msgspec.msgpack directly: store Python class objects in the action wrappers and use msgspec.msgpack.encode/decode for Python-to-Python actions, bypassing the CDR registry lookup entirely.
…ructs The server only needs goal_type (to decode incoming goal bytes). Result and feedback are only encoded server-side, not decoded, so no class reference is needed. Remove the dead fields to fix the CI -D warnings build error.
1. `is_cancel_requested` missing `#[getter]`: accessing it as a Python property returned the method object (always truthy), causing the server to cancel every goal after the first feedback. 2. `status_arc` initialized to Unknown: immediately after `send_goal` the status bridge task hadn't fired yet, so `handle.status` returned 0 (Unknown) instead of 1 (Accepted). Initialize to Accepted and read the current watch value on subscription. 3. Cancel requests not handled in polling mode: the server had a background result-request handler but no cancel-request handler. `client.cancel()` sent a cancel service request and waited forever for a reply. Add `handle_cancel_requests_legacy_inner` and spawn it alongside the result handler. 4. `send_goal` hangs when no server is present: the flume channel's persistent sender kept `rx.recv_async()` alive after the Zenoh query expired. Add an 11 s tokio timeout so callers get a clear RuntimeError instead.
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Summary
Expands the
ros_z_pyPython bindings from a minimal 5-type stub to anear-complete API covering pub/sub, services, actions, graph discovery,
QoS, SHM, and context lifecycle.
Key Changes
Generic message bridge — replaced per-type factory match statements with
RawBytesMessage/RawBytesCdrSerdes(identity serializer). Any message typeregistered in
ros_z_msgs_pynow works with pub/sub and services withoutper-type Rust code.
Actions — full Python↔Python action client/server via
RawBytesAction(
DynActionMessagefor Goal/Result/Feedback).ZActionClientandZActionServerare driven from a global tokio runtime; feedback is bridgedfrom tokio
mpsctoflumefor blocking-friendly Python access.Graph discovery —
get_topic_names_and_types,get_node_names,get_service_names_and_types,count_publishers,count_subscribersonZNode.QoS class —
PyQosProfilewith named constructor, static presets(
default,sensor_data,parameters,services), and backward-compatibledict support.
Context builder — added
with_mode,with_router_endpoint,with_remap_rule(s),with_enclave,with_shm_enabled,with_shm_pool_size,with_shm_threshold,and
shutdown()/ context-manager protocol.Callback subscriptions —
create_subscriber(callback=fn)usesbuild_with_callback; queue-based subscriptions unchanged.Node properties —
name,namespace,fully_qualified_name.Fix —
check-example-coverage.nupath corrected after thecrates/reorganisation in #92.