| import dora |
| import pyarrow |
| import typing |
|
|
| @typing.final |
| class Enum: |
| """Generic enumeration. |
| |
| Derive from this class to define new enumerations.""" |
| __members__: mappingproxy = ... |
|
|
| @typing.final |
| class Node: |
| """The custom node API lets you integrate `dora` into your application. |
| It allows you to retrieve input and send output in any fashion you want. |
| |
| Use with: |
| |
| ```python |
| from dora import Node |
| |
| node = Node() |
| ```""" |
|
|
| def __init__(self) -> None: |
| """The custom node API lets you integrate `dora` into your application. |
| It allows you to retrieve input and send output in any fashion you want. |
| |
| Use with: |
| |
| ```python |
| from dora import Node |
| |
| node = Node() |
| ```""" |
|
|
| def dataflow_descriptor(self) -> dict: |
| """Returns the full dataflow descriptor that this node is part of. |
| |
| This method returns the parsed dataflow YAML file.""" |
|
|
| def dataflow_id(self) -> str: |
| """Returns the dataflow id.""" |
|
|
| def merge_external_events(self, subscription: dora.Ros2Subscription) -> None: |
| """Merge an external event stream with dora main loop. |
| This currently only work with ROS2.""" |
|
|
| def next(self, timeout: float=None) -> dora.PyEvent: |
| """`.next()` gives you the next input that the node has received. |
| It blocks until the next event becomes available. |
| You can use timeout in seconds to return if no input is available. |
| It will return `None` when all senders has been dropped. |
| |
| ```python |
| event = node.next() |
| ``` |
| |
| You can also iterate over the event stream with a loop |
| |
| ```python |
| for event in node: |
| match event["type"]: |
| case "INPUT": |
| match event["id"]: |
| case "image": |
| ```""" |
|
|
| def send_output(self, output_id: str, data: pyarrow.Array, metadata: dict=None) -> None: |
| """`send_output` send data from the node. |
| |
| ```python |
| Args: |
| output_id: str, |
| data: pyarrow.Array, |
| metadata: Option[Dict], |
| ``` |
| |
| ex: |
| |
| ```python |
| node.send_output("string", b"string", {"open_telemetry_context": "7632e76"}) |
| ```""" |
|
|
| def __iter__(self) -> typing.Any: |
| """Implement iter(self).""" |
|
|
| def __next__(self) -> typing.Any: |
| """Implement next(self).""" |
|
|
| @typing.final |
| class PyEvent: |
| """Dora Event""" |
|
|
| def inner(self):... |
|
|
| def __getitem__(self, key: typing.Any) -> typing.Any: |
| """Return self[key].""" |
|
|
| @typing.final |
| class Ros2Context: |
| """ROS2 Context holding all messages definition for receiving and sending messages to ROS2. |
| |
| By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition. |
| |
| AMENT_PREFIX_PATH folder structure should be the following: |
| |
| - For messages: <namespace>/msg/<name>.msg |
| - For services: <namespace>/srv/<name>.srv |
| |
| You can also use `ros_paths` if you don't want to use env variable. |
| |
| warning:: |
| dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change. |
| |
| ```python |
| context = Ros2Context() |
| ```""" |
|
|
| def __init__(self, ros_paths: typing.List[str]=None) -> None: |
| """ROS2 Context holding all messages definition for receiving and sending messages to ROS2. |
| |
| By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition. |
| |
| AMENT_PREFIX_PATH folder structure should be the following: |
| |
| - For messages: <namespace>/msg/<name>.msg |
| - For services: <namespace>/srv/<name>.srv |
| |
| You can also use `ros_paths` if you don't want to use env variable. |
| |
| warning:: |
| dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change. |
| |
| ```python |
| context = Ros2Context() |
| ```""" |
|
|
| def new_node(self, name: str, namespace: str, options: dora.Ros2NodeOptions) -> dora.Ros2Node: |
| """Create a new ROS2 node |
| |
| ```python |
| ros2_node = ros2_context.new_node( |
| "turtle_teleop", |
| "/ros2_demo", |
| Ros2NodeOptions(rosout=True), |
| ) |
| ``` |
| |
| warning:: |
| dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| @typing.final |
| class Ros2Durability: |
| """DDS 2.2.3.4 DURABILITY""" |
|
|
| def __eq__(self, value: typing.Any) -> bool: |
| """Return self==value.""" |
|
|
| def __ge__(self, value: typing.Any) -> bool: |
| """Return self>=value.""" |
|
|
| def __gt__(self, value: typing.Any) -> bool: |
| """Return self>value.""" |
|
|
| def __int__(self) -> None: |
| """int(self)""" |
|
|
| def __le__(self, value: typing.Any) -> bool: |
| """Return self<=value.""" |
|
|
| def __lt__(self, value: typing.Any) -> bool: |
| """Return self<value.""" |
|
|
| def __ne__(self, value: typing.Any) -> bool: |
| """Return self!=value.""" |
|
|
| def __repr__(self) -> str: |
| """Return repr(self).""" |
| Persistent: Ros2Durability = ... |
| Transient: Ros2Durability = ... |
| TransientLocal: Ros2Durability = ... |
| Volatile: Ros2Durability = ... |
|
|
| @typing.final |
| class Ros2Liveliness: |
| """DDS 2.2.3.11 LIVELINESS""" |
|
|
| def __eq__(self, value: typing.Any) -> bool: |
| """Return self==value.""" |
|
|
| def __ge__(self, value: typing.Any) -> bool: |
| """Return self>=value.""" |
|
|
| def __gt__(self, value: typing.Any) -> bool: |
| """Return self>value.""" |
|
|
| def __int__(self) -> None: |
| """int(self)""" |
|
|
| def __le__(self, value: typing.Any) -> bool: |
| """Return self<=value.""" |
|
|
| def __lt__(self, value: typing.Any) -> bool: |
| """Return self<value.""" |
|
|
| def __ne__(self, value: typing.Any) -> bool: |
| """Return self!=value.""" |
|
|
| def __repr__(self) -> str: |
| """Return repr(self).""" |
| Automatic: Ros2Liveliness = ... |
| ManualByParticipant: Ros2Liveliness = ... |
| ManualByTopic: Ros2Liveliness = ... |
|
|
| @typing.final |
| class Ros2Node: |
| """ROS2 Node |
| |
| warnings:: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change. |
| - There's a known issue about ROS2 nodes not being discoverable by ROS2 |
| See: https://github.com/jhelovuo/ros2-client/issues/4""" |
|
|
| def create_publisher(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Publisher: |
| """Create a ROS2 publisher |
| |
| ```python |
| pose_publisher = ros2_node.create_publisher(turtle_pose_topic) |
| ``` |
| warnings: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| def create_subscription(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Subscription: |
| """Create a ROS2 subscription |
| |
| ```python |
| pose_reader = ros2_node.create_subscription(turtle_pose_topic) |
| ``` |
| |
| warnings: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| def create_topic(self, name: str, message_type: str, qos: dora.Ros2QosPolicies) -> dora.Ros2Topic: |
| """Create a ROS2 topic to connect to. |
| |
| ```python |
| turtle_twist_topic = ros2_node.create_topic( |
| "/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos |
| ) |
| ```""" |
|
|
| @typing.final |
| class Ros2NodeOptions: |
| """ROS2 Node Options""" |
|
|
| def __init__(self, rosout: bool=None) -> None: |
| """ROS2 Node Options""" |
|
|
| @typing.final |
| class Ros2Publisher: |
| """ROS2 Publisher |
| |
| warnings: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| def publish(self, data: pyarrow.Array) -> None: |
| """Publish a message into ROS2 topic. |
| |
| Remember that the data format should respect the structure of the ROS2 message using an arrow Structure. |
| |
| ex: |
| ```python |
| gripper_command.publish( |
| pa.array( |
| [ |
| { |
| "name": "gripper", |
| "cmd": np.float32(5), |
| } |
| ] |
| ), |
| ) |
| ```""" |
|
|
| @typing.final |
| class Ros2QosPolicies: |
| """ROS2 QoS Policy""" |
|
|
| def __init__(self, durability: dora.Ros2Durability=None, liveliness: dora.Ros2Liveliness=None, reliable: bool=None, keep_all: bool=None, lease_duration: float=None, max_blocking_time: float=None, keep_last: int=None) -> dora.Ros2QoSPolicies: |
| """ROS2 QoS Policy""" |
|
|
| @typing.final |
| class Ros2Subscription: |
| """ROS2 Subscription |
| |
| |
| warnings: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| def next(self):... |
|
|
| @typing.final |
| class Ros2Topic: |
| """ROS2 Topic |
| |
| warnings: |
| - dora Ros2 bridge functionality is considered **unstable**. It may be changed |
| at any point without it being considered a breaking change.""" |
|
|
| def start_runtime() -> None: |
| """Start a runtime for Operators""" |
