Metadata-Version: 2.3
Name: zrm
Version: 2.0.0
Summary: A minimal, single-file communication middleware built on Zenoh
Author: JafarAbdi
Author-email: JafarAbdi <jafar.uruc@gmail.com>
License: BSD 3-Clause License
         
         Copyright (c) 2025, Jafar Uruç
         
         Redistribution and use in source and binary forms, with or without
         modification, are permitted provided that the following conditions are met:
         
         1. Redistributions of source code must retain the above copyright notice, this
            list of conditions and the following disclaimer.
         
         2. Redistributions in binary form must reproduce the above copyright notice,
            this list of conditions and the following disclaimer in the documentation
            and/or other materials provided with the distribution.
         
         3. Neither the name of the copyright holder nor the names of its
            contributors may be used to endorse or promote products derived from
            this software without specific prior written permission.
         
         THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
         AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
         IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
         DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
         FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
         DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
         SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
         CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
         OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
         OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Classifier: Development Status :: 4 - Beta
Classifier: Intended Audience :: Developers
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: 3.13
Classifier: Topic :: Software Development :: Libraries :: Python Modules
Classifier: Topic :: System :: Networking
Requires-Dist: eclipse-zenoh>=1.6.2
Requires-Dist: protobuf>=6.33.0
Requires-Python: >=3.10
Project-URL: CI, https://github.com/JafarAbdi/zrm/actions
Project-URL: Homepage, https://github.com/JafarAbdi/zrm
Project-URL: Issues, https://github.com/JafarAbdi/zrm/issues
Project-URL: Repository, https://github.com/JafarAbdi/zrm
Description-Content-Type: text/markdown

# ZRM (Zenoh ROS-like Middleware)

[![CI](https://github.com/JafarAbdi/zrm/actions/workflows/ci.yml/badge.svg)](https://github.com/JafarAbdi/zrm/actions/workflows/ci.yml)

A minimal, single-file communication middleware built on Zenoh, providing a clean and simple API inspired by ROS2 patterns.

https://github.com/user-attachments/assets/3e41d9a7-f553-457b-a879-cae2af45bf63

## Features

- **Minimalist**: [Single-file implementation](src/zrm/__init__.py)
- **Type-safe**: Protobuf-based serialization with runtime type checking
- **Ergonomic**: Pythonic API with sensible defaults

## Installation

```bash
pip install zrm
```

## Quick Start

```python
import zrm
from zrm.msgs import geometry_pb2

node = zrm.Node("my_node")

# Publish
pub = node.create_publisher("robot/pose", geometry_pb2.Pose2D)
pub.publish(geometry_pb2.Pose2D(x=1.0, y=2.0, theta=0.5))

# Subscribe
sub = node.create_subscriber("robot/pose", geometry_pb2.Pose2D)
if pose := sub.latest():
    print(f"Position: x={pose.x}, y={pose.y}")

node.close()
```

**Protobuf definition:**
```protobuf
message Pose2D {
  double x = 1;
  double y = 2;
  double theta = 3;
}
```

## CLI Tools

```bash
zrm-topic list                    # List topics
zrm-topic echo robot/pose         # Echo messages
zrm-service list                  # List services
zrm-service call add 'a: 1 b: 2'  # Call service
zrm-action list                   # List actions
zrm-action send fib 'order: 10'   # Send action goal
zrm-node list                     # List nodes
```

## More Examples

See `examples/` for complete working examples including services, actions with feedback/cancellation, and graph discovery.

---

<details>
<summary><b>Services</b></summary>

Services use nested Request/Response messages:

```python
import zrm
from zrm.srvs import examples_pb2

def add_callback(req):
    return examples_pb2.AddTwoInts.Response(sum=req.a + req.b)

node = zrm.Node("service_node")
server = node.create_service("add_two_ints", examples_pb2.AddTwoInts, add_callback)
client = node.create_client("add_two_ints", examples_pb2.AddTwoInts)

response = client.call(examples_pb2.AddTwoInts.Request(a=5, b=3))
print(f"Sum: {response.sum}")  # Output: 8

node.close()
```

**Protobuf definition:**
```protobuf
message AddTwoInts {
  message Request { int32 a = 1; int32 b = 2; }
  message Response { int32 sum = 1; }
}
```
</details>

<details>
<summary><b>Actions</b></summary>

Actions support long-running goals with feedback and cancellation:

```python
import zrm
from zrm.actions import examples_pb2

def execute_fibonacci(goal_handle: zrm.ServerGoalHandle) -> None:
    goal_handle.execute()
    sequence = [0, 1]
    for i in range(1, goal_handle.goal.order):
        if goal_handle.cancel_requested:
            goal_handle.cancel(examples_pb2.Fibonacci.Result(sequence=sequence))
            return
        sequence.append(sequence[i] + sequence[i - 1])
        goal_handle.publish_feedback(examples_pb2.Fibonacci.Feedback(partial_sequence=sequence))
    goal_handle.succeed(examples_pb2.Fibonacci.Result(sequence=sequence))

node = zrm.Node("action_node")
server = node.create_action_server("fibonacci", examples_pb2.Fibonacci, execute_fibonacci)
client = node.create_action_client("fibonacci", examples_pb2.Fibonacci)

goal_handle = client.send_goal(
    examples_pb2.Fibonacci.Goal(order=10),
    feedback_callback=lambda fb: print(f"Progress: {list(fb.partial_sequence)}")
)
result = goal_handle.get_result(timeout=30.0)
print(f"Result: {list(result.sequence)}")

node.close()
```

**Protobuf definition:**
```protobuf
message Fibonacci {
  message Goal { int32 order = 1; }
  message Result { repeated int32 sequence = 1; }
  message Feedback { repeated int32 partial_sequence = 1; }
}
```
</details>

<details>
<summary><b>Message Organization & Proto Generation</b></summary>

### Directory Structure

```
src/<package>/
├── proto/                 # Proto definitions
│   ├── msgs/              # Message definitions
│   ├── srvs/              # Service definitions
│   └── actions/           # Action definitions
├── msgs/                  # Auto-generated *_pb2.py
├── srvs/                  # Auto-generated *_pb2.py
└── actions/               # Auto-generated *_pb2.py
```

### Generating Python Code

```bash
zrm-proto              # Generate from local protos
zrm-proto --dep zrm    # Include dependency protos
```

### Standard Messages

| Category | Module | Types |
|----------|--------|-------|
| Messages | `zrm.msgs.header_pb2` | Header |
| Messages | `zrm.msgs.geometry_pb2` | Point, Vector3, Quaternion, Pose, Pose2D, Twist, PoseStamped |
| Messages | `zrm.msgs.sensor_pb2` | Imu, Image, CompressedImage, CameraInfo, JointState |
| Messages | `zrm.msgs.vision_pb2` | Point2D, BoundingBox2D |
| Services | `zrm.srvs.std_pb2` | Trigger |
| Services | `zrm.srvs.examples_pb2` | AddTwoInts |
| Actions | `zrm.actions.examples_pb2` | Fibonacci |
</details>

<details>
<summary><b>Development</b></summary>

```bash
git clone https://github.com/JafarAbdi/zrm.git
cd zrm
uv sync

# Linting
uv run pre-commit run -a

# Testing
uv run pytest tests/ -v
```
</details>

## Acknowledgements

- Graph class inspired by [ros-z](https://github.com/ZettaScaleLabs/ros-z)
- Built on [Eclipse Zenoh](https://zenoh.io/)
