Metadata-Version: 2.4
Name: huri-core
Version: 0.4.0
Summary: HuRI core: the framework of a realtime, modular conversational pipeline for robots
License:                     GNU GENERAL PUBLIC LICENSE
                               Version 3, 29 June 2007
        
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License-File: LICENSE
Provides-Extra: server
Requires-Dist: ray[serve]<2.56,>=2.55.1; extra == "server"
Requires-Dist: fastapi<0.139.2; extra == "server"
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Provides-Extra: dev
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Requires-Dist: flake8-toml-config==1.0.0; extra == "dev"
Requires-Dist: isort==8.0.1; extra == "dev"
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Requires-Dist: pytest==9.0.3; extra == "dev"
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Requires-Dist: packaging>=23; extra == "dev"
Requires-Dist: tomli>=2; python_version < "3.11" and extra == "dev"
Dynamic: license-file

# huri-core

The framework of **HuRI**, a realtime, modular conversational pipeline for
robots and avatars: speech in, an answer out as text, a voice and gestures. A
multi-client server runs, per client session, a pipeline of modules (voice
activity detection, speech-to-text, emotion, retrieval-augmented answers,
text-to-speech, gesture generation) exchanging typed events.

huri-core is **only the abstract framework**: the base classes modules and
events derive from, the event bus and the sessions, the Ray Serve server, the
plugin discovery and its safety checks, the client SDK, a module test harness
and the `huri` command, which runs the subcommands installed packages provide.
It ships no module, no concrete event and no command, and it is built and
tested with none installed. This repository is also HuRI's front door: the
ecosystem below, [how the pieces fit](docs/ARCHITECTURE.md) and
[where to contribute](CONTRIBUTING.md). (It was called `Lucy-Robotics/HuRI`
before the split; GitHub redirects the old URL here.)

## HuRI ecosystem

### Start here

| You want to… | Go to | You need |
|---|---|---|
| **Try it**: a working pipeline, fast | [huri-modules](https://github.com/Lucy-Robotics/huri-modules), `install.sh` on this machine; it also installs [huri-cli](https://github.com/Lucy-Robotics/huri-cli) to talk to it (`--no-cli` to skip) | that repository only |
| **Deploy**: run a chosen set of modules somewhere | [huri-modules](https://github.com/Lucy-Robotics/huri-modules): `install.sh` (bare metal), [deploy/](https://github.com/Lucy-Robotics/huri-modules/tree/main/deploy) (Docker) or [helm/](https://github.com/Lucy-Robotics/huri-modules/tree/main/helm) (Kubernetes) | that repository only |
| **Build a module**: write or change one module, alone | [huri-plugin-template](https://github.com/Lucy-Robotics/huri-plugin-template) ("Use this template") | `huri-core` + `huri-events`; no GPU, no running pipeline |
| **Write a client**: a website, a robot, a CLI | the [client SDK](#client-sdk) and [huri-events](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-events); [huri-cli](https://github.com/Lucy-Robotics/huri-cli) is the reference example to start from | `huri-core[client]` + `huri-events`; your client is its own repository, with its own versions |
| **Understand or change the framework**: bus, server, plugins, checks | this README, [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md), [CONTRIBUTING.md](CONTRIBUTING.md) | nothing |

### The repositories

| Repository | What it is |
|---|---|
| [huri-core](https://github.com/Lucy-Robotics/huri-core) | this one: the framework (module and event base classes, bus, server, plugin loader, compatibility checks, client SDK, `huri_core.testing`, the `huri` command), with no concrete module or event |
| [huri-modules](https://github.com/Lucy-Robotics/huri-modules) | the curated set, released and tested together: [huri-events](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-events) (one event class per `huri.*` topic), the modules ([vad](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-vad), [stt](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-stt), [tag](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-tag), [emo](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-emo), [rag](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-rag), [tts](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-tts), [mov](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-module-mov)), the registry of verified modules and [huri-hub](https://github.com/Lucy-Robotics/huri-modules/tree/main/packages/huri-hub) (`huri hub`), install and deploy (`install.sh`, Docker, Helm) |
| [huri-plugin-template](https://github.com/Lucy-Robotics/huri-plugin-template) | the starter for a new module (a GitHub template repository) |
| [huri-cli](https://github.com/Lucy-Robotics/huri-cli) | the reference command-line client, a use case of the client SDK; also the source of `huri`, a convenience metapackage (`huri-core[client]` + `huri-cli`) |
| [HuRI-inmoov](https://github.com/Lucy-Robotics/HuRI-inmoov) | HuRI driving an InMoov robot: an actuation module, its events and the robot-side client |

### Built with HuRI

Use cases: clients built on HuRI, each in its own repository, with its own
versions, not part of HuRI itself. A use case depends on `huri-core[client]`
and an event package (and on its own module package, when it brings one).

| Use case | What it is |
|---|---|
| [huri-cli](https://github.com/Lucy-Robotics/huri-cli) | the reference client: microphone and prompt in, text, voice and a gesture view out |
| [HuRI_ATP_testsite](https://github.com/Lucy-Robotics/HuRI_ATP_testsite) | the acceptance test site: a browser console that launches HuRI and drives a session, to exercise the features (F1-F19) of the [beta test plan](docs/btp.md); the site calls it the ATP and uses the same feature IDs |
| HuRI_website_demo (private) | a demo website: a 3D talking character |
| [HuRI-inmoov](https://github.com/Lucy-Robotics/HuRI-inmoov) | an InMoov robot that listens, answers and gestures while it speaks |

## Install

huri-core is released on [PyPI](https://pypi.org/project/huri-core/) and as
git tags (`X.Y.Z`), both from the same commit. Python 3.10 to 3.12.

```sh
# A server: Ray Serve + FastAPI and the pins that keep them working.
pip install "huri-core[server]"

# A client (robot, app): the client SDK, without Ray or FastAPI.
pip install "huri-core[client]"

# The development branch, or any other ref, from git.
pip install "huri-core[server] @ git+https://github.com/Lucy-Robotics/huri-core.git@dev"

# Working on huri-core: every extra plus the lint/test toolchain.
git clone https://github.com/Lucy-Robotics/huri-core.git && cd huri-core
pip install -c constraints.txt -e ".[server,client,dev]"
```

The base install (no extra) has no dependency at all: the base classes and
`huri_core.testing` are enough to write and unit-test a module or an event
package.

A **module author** depends on a huri-core range in the package's
`pyproject.toml`, e.g. `"huri-core[server]>=0.4,<0.5"` (see
[Versioning](#versioning-and-compatibility)). Modules that use the
curated `huri.*` topics also depend on `huri-events`, which lives in
huri-modules:

```sh
pip install "huri-events @ git+https://github.com/Lucy-Robotics/huri-modules.git@<ref>#subdirectory=packages/huri-events"
```

[huri-plugin-template](https://github.com/Lucy-Robotics/huri-plugin-template)
has all of this set up.

`constraints.txt` repeats the server's pins (protobuf, FastAPI, setuptools; its
header says what breaks without each). Pass it with `-c` to whatever you
install into a server environment after huri-core, so a module's dependencies
cannot move them.

## Concepts

### Modules

A module is a processing node: it consumes the events of one topic and emits
events on (at most) one other.

```python
from huri_core.core.module import Module


class Shout(Module):
    input_type = "echo.text"     # the topic it consumes
    output_type = "echo.loud"    # the topic it produces; None for a terminal module
    input_event = Text           # optional: the event classes it expects, checked
    output_event = Text          # at startup against what is installed

    async def process(self, data: Text):
        return Text(data.text.upper())   # or None to emit nothing
```

`process()` is either a coroutine returning one event (or `None`), or an async
generator yielding any number of them (streaming: tokens, audio chunks...).
A module is built once per session, with the `args:` of the client's config as
keyword arguments; an optional `async def finalize(self)` runs when the
session ends (to persist per-user state, for instance).

Two mixins cover what the server injects:

- `ModuleWithHandle`: the module calls a model served as its own Ray Serve
  deployment. It sets `_handle_cls` to that deployment; the server binds it
  once (only for enabled modules) and passes the handle as `self._handle`,
  shared by every session.
- `ModuleWithId`: the module receives the client's identity as
  `self._user_id`, to keep per-user state (memory, preferences).

`actuation = True` marks a module that can drive physical hardware (see
[Safety](#safety-default-deny-and-actuation)).

### Events and the wire

An event is a dataclass deriving from `EventData`, which owns its wire format:
`to_wire()` and the `from_wire()` classmethod. Two bases cover nearly
everything:

- `JsonEvent`: the dataclass fields as a JSON object (`asdict` /
  `cls(**data)`); override both methods for nested or typed fields;
- `BytesEvent`: a `bytes` payload (`.data`), for audio and other binary
  streams; subclass it to give the bytes a layout.

On the websocket, an event whose `to_wire()` gives a mapping travels as a JSON
text frame, anything else as a binary frame:

```text
JSON:    {"topic": "echo.loud", "data": {...}}
binary:  [u16 big-endian topic length][topic, UTF-8][payload]
```

`summarize()` is what the server logs for an event; override it for large
payloads.

### Topics and namespaces

Topics are namespaced, `<namespace>.<name>` in lowercase. `huri.` is reserved
for the curated events of `huri-events`; every other distribution registers its
topics under one namespace of its own (`acme.servo_angles`), which no other
distribution may use. So a third-party replacement for a curated event
(`acme.motion`) lives next to it instead of overriding it, and two packages
cannot silently fight over a topic: the server refuses to start instead.

### Sessions, the bus and the Sender

A client opens a websocket on `/session` and sends a handshake: the modules of
its pipeline, the topics it will `send`, the topics it `subscribe`s to.

```json
{
  "user_id": "...",
  "modules": {"shout": {"name": "shout", "args": {}}},
  "send": ["echo.text"],
  "subscribe": ["echo.loud"]
}
```

The server builds the pipeline (one instance of each module for this session),
checks its wiring, and answers `{"type": "session_init", "user_id": ...}`, or
`{"type": "session_error", "error": ..., "server_modules": [...]}` and closes
the socket (code 1008). A session has its own event bus (`EventGraph`): each
event published on a topic runs every module subscribed to it, concurrently,
and what they emit is published in turn. For each subscribed topic a `Sender`
forwards the events to the client, framed as above. An incoming frame on a
topic none of the server's enabled modules uses is dropped and logged; the
session goes on.

### Plugins: entry points

The server finds modules and events through Python entry points, so any
installed distribution can provide them:

```toml
[project.entry-points."huri.modules"]
servo = "huri_servo.module:Servo"          # a client asks for it as `name: servo`

[project.entry-points."huri.events"]
"acme.servo_angles" = "huri_servo.events:ServoAngles"
```

Installing the package is all it takes for the server to *know* it; enabling
it is a separate, explicit decision (below). Only enabled modules are
imported, so a host never imports a module it does not run, nor its heavy
dependencies. Two distributions registering the same name for different
targets is an error naming both.

### Safety: default-deny and actuation

`HURI_MODULES` is the server's allow-list and it is **default-deny**: unset or
empty, the server enables no module and rejects every session, because any
installed package can register one. List each module by name, or by import
path for a module that is not packaged at all:

```sh
HURI_MODULES=shout,my_pkg.servo:Servo
```

A client refers to the latter with `module: my_pkg.servo:Servo` instead of
`name:`; it can never make the server import a path the server did not list.
A client asking for an installed but not enabled module is told so.

A module that can **move hardware** declares it (`actuation = True` on the
class, or `requires.actuation = true` in its manifest), and the server refuses
to start with it enabled unless its operator also lists it in
`HURI_ACTUATION_MODULES`: a second, explicit consent, independent of
`HURI_MODULES` and of any verified mark. Active actuation modules are logged as
a warning at startup.

### Manifests and the startup and session checks

A module package ships a `huri_module.toml` per module, next to its code, so
tooling can reason about the module without importing it:

```toml
name = "servo"                     # its huri.modules entry point name
summary = "Gesture to servo angle arrays"
input = { topic = "huri.motion", event = "huri_events.motion:Motion" }
output = { topic = "acme.servo_angles", event = "huri_servo.events:ServoAngles" }  # omit for a terminal module
events = ["huri-events>=0.1,<0.2"]               # optional
requires = { gpu = false, actuation = false }    # optional
huri_core = ">=0.4,<0.5"
```

(An unpackaged module's manifest sits next to its file, named after its class
lowercased.) The server checks, and reports every problem at once instead of
starting a pipeline that silently drops events:

- **at startup** (`check_modules`, `check_manifests`, `check_actuation`):
  every topic an enabled module consumes or produces is registered by an
  installed event package, with the class the module expects; a manifest
  agrees with its class; the installed huri-core and event packages are in
  the manifest's ranges; actuation is opted in;
- **per session** (`check_session`): every module input is produced by another
  module or sent by the client, and every subscribed topic is emitted by the
  pipeline.

### Running a server

```sh
HURI_MODULES=shout python -m huri_core.launch_huri   # starts Ray and serves the app
```

`huri_core.app:app` is the Serve application (`build_app()`, which runs the
startup checks): a [Serve config file](https://docs.ray.io/en/latest/serve/production-guide/config.html)
uses it as its `import_path` and sets `HURI_MODULES` (and
`HURI_ACTUATION_MODULES`) in its `runtime_env.env_vars`, for `serve deploy`.
The session endpoint is `ws://<host>:8000/session`.

### Server HTTP API

Next to the websocket, on the same origin, the server answers
`GET /modules` (read-only, no auth, like `/session`): the modules it enabled,
so a client can build its handshake, or check it, before connecting.

```json
{
  "modules": ["shout"],
  "details": {
    "shout": {"input": "echo.text", "output": "echo.loud", "actuation": false}
  },
  "huri_core": "0.4.0"
}
```

`modules` is the sorted `HURI_MODULES` allow-list after filtering, the same
list a rejected session gets as `server_modules`; an installed but disabled
module is not in it. `details` gives each module's input and output topics
(`output` is `null` for a module that emits nothing) and whether it may drive
hardware (`actuation`, as the startup checks found it, from the class or its
manifest). `huri_core` is the server's huri-core version, as a PEP 440
string: a dev build reports a pre-release such as `0.4.0.dev0`, so compare it
with `packaging.version`, not as an exact string. The answer is fixed at
startup: the route loads and instantiates nothing.

`actuation` is informational. The only safety gate is the operator's opt-in
(`HURI_ACTUATION_MODULES`, checked at startup): a client must never decide
something is safe because a module reports `actuation: false`.

Like `/session`, `/modules` has no auth, and it tells any caller the exact
huri-core version and which enabled modules drive hardware. A public
deployment (an InMoov or any robot reachable from the internet) should put
both routes behind the website backend or a reverse proxy that authenticates,
and not expose the HuRI server port directly.

### Client SDK

`huri_core.core.client.HuRIClient` (`huri-core[client]`) owns the websocket,
the handshake and the framing, and calls your handlers:

```python
client = HuRIClient(url, modules={"shout": {"name": "shout"}}, sends=["echo.text"])
client.on("echo.loud", Text, handler)   # before connecting
async with client:
    await client.send("echo.text", Text("hello"))
    await client.wait_closed()
```

Handlers of one topic run one at a time, in arrival order (audio playback
needs that); different topics run concurrently; a failing handler is logged
and does not stop the others. A refused session raises `HuRISessionError`
(with `server_modules`). The same session can be written as a YAML file
(`huri_url`, `modules`, `send`, `subscribe`), loaded with
`load_client_config(path)` and turned into a client with
`HuRIClient.from_config(...)`; `load_client_config` also gives the session
this machine's `user_id`, created once and kept in the user config directory.
huri-modules ships a commented
[client_template.yaml](https://github.com/Lucy-Robotics/huri-modules/blob/main/config/client_template.yaml).
[huri-cli](https://github.com/Lucy-Robotics/huri-cli), a separate repository,
is a complete client built on this SDK (microphone, prompt, playback, gesture
view): the reference use case to start your own from.

### Testing a module: `huri_core.testing`

`ModuleHarness` runs one module in-process, with no Ray and no server (only
the base install): it builds the module like the server does, checks the
events in and out against `input_event` / `output_event`, and returns what it
emitted. `LocalHandle` stands in for the Serve deployment of a
`ModuleWithHandle`, on top of a plain fake object, and records its calls.

```python
from huri_core.testing import LocalHandle, ModuleHarness


class FakeModel:  # the deployment methods the module calls
    async def generate(self, prompt):
        return "hi"


harness = ModuleHarness(Chat, handle=LocalHandle(FakeModel()), user_id="u1")
assert harness.run(Text("hello")) == [Text("hi")]
```

### Finding modules: `huri hub`

`huri hub` (search GitHub for modules, list those supporting the installed
huri-core, install a verified one) is not part of huri-core: it comes from the
`huri-hub` package of
[huri-modules](https://github.com/Lucy-Robotics/huri-modules), next to the
registry it reads, and is documented there.

```sh
pip install "huri-hub @ git+https://github.com/Lucy-Robotics/huri-modules.git@<ref>#subdirectory=packages/huri-hub"
huri hub list
```

### `huri` commands are plugins

`huri <name> [args...]` runs the `huri.commands` entry point called `<name>`,
so a package adds a subcommand the way it adds a module:

```toml
[project.entry-points."huri.commands"]
hub = "huri_hub.cli:main"
```

The target is called with the remaining arguments as a list and returns the
exit code: `def main(argv: list[str]) -> int` (`None` counts as `0`). The first
line of its docstring is what `huri --help` shows next to its name. Only the
command run is imported; one that fails to import is reported with the
distribution it comes from, and two distributions registering the same name
for different targets is an error naming both.

## A minimal end to end example

A package providing one module and its events, a server running it, and a
client talking to it. Nothing else is installed.

```text
my-echo/
├── pyproject.toml
└── my_echo/__init__.py
```

```toml
# my-echo/pyproject.toml
[project]
name = "my-echo"
version = "0.1.0"
dependencies = ["huri-core>=0.4,<0.5"]

[project.entry-points."huri.modules"]
shout = "my_echo:Shout"

[project.entry-points."huri.events"]   # the `echo` namespace is this package's
"echo.text" = "my_echo:Text"
"echo.loud" = "my_echo:Text"
```

```python
# my-echo/my_echo/__init__.py
from dataclasses import dataclass

from huri_core.core.events import JsonEvent
from huri_core.core.module import Module


@dataclass
class Text(JsonEvent):
    text: str


class Shout(Module):
    input_type, output_type = "echo.text", "echo.loud"
    input_event, output_event = Text, Text

    async def process(self, data: Text):
        return Text(data.text.upper() + "!")
```

```sh
pip install "huri-core[server,client] @ git+https://github.com/Lucy-Robotics/huri-core.git@<ref>"
pip install -e ./my-echo
HURI_MODULES=shout python -m huri_core.launch_huri
```

```python
# client.py, in another terminal
import asyncio

from huri_core.core.client import HuRIClient
from my_echo import Text


async def main() -> None:
    client = HuRIClient(
        "ws://localhost:8000/session",
        modules={"shout": {"name": "shout"}},
        sends=["echo.text"],
    )
    done = asyncio.Event()

    async def show(event: Text) -> None:
        print(event.text)  # HELLO!
        done.set()

    client.on("echo.loud", Text, show)
    async with client:
        await client.send("echo.text", Text("hello"))
        await asyncio.wait_for(done.wait(), 10)


asyncio.run(main())
```

From here:

- **a real pipeline** (voice in, speech and gestures out; installer, Docker
  images, Helm chart, reference CLI):
  [huri-modules](https://github.com/Lucy-Robotics/huri-modules);
- **your own module**, with its manifest, events package, tests and CI:
  [huri-plugin-template](https://github.com/Lucy-Robotics/huri-plugin-template);
- **the big picture**: [docs/ARCHITECTURE.md](docs/ARCHITECTURE.md), and
  [CONTRIBUTING.md](CONTRIBUTING.md) for where to open what.

## Versioning and compatibility

huri-core follows semver with tags `X.Y.Z` (no `v` prefix); `dev` is the
development branch, `main` the latest release. While huri-core is `0.x`, a
**minor** release (`0.4` → `0.5`) may break the public surface and a patch
release never does, so modules and event packages pin a minor range:
`huri-core>=0.4,<0.5`. A `dev` build (`0.5.0.dev0`, ...) is a pre-release:
`>=0.5` excludes it until `0.5.0` is tagged. The public surface (base classes, client SDK and
session schema, wire protocol, entry point groups, manifest) is listed in
[RELEASING.md](RELEASING.md).

[huri-modules](https://github.com/Lucy-Robotics/huri-modules) has its own
versions; each of its releases is a tested set built against one huri-core
release:

| huri-modules | huri-core | huri-cli (installed by huri-modules' installer) |
| ------------ | --------- | ----------------------------------------------- |
| 0.1.x        | 0.4.x     | 0.1.x                                           |

huri-modules' CI also runs against huri-core's `dev`, so a breaking change here
is seen there before it is released.
Clients built on the SDK, such as
[huri-cli](https://github.com/Lucy-Robotics/huri-cli), pin the same minor range
of `huri-core[client]` and release on their own.

## Developing

```sh
make lint     # black, isort, flake8 (rewrite in place) + mypy + link check
make test     # pytest
make check    # both
```

CI (`.github/workflows/ci.yml`) runs the lint and the link check, the tests
on Python 3.10 to 3.12, the tests with only `huri-core[client]` installed (no
Ray, no FastAPI), and a wheel build.

Layout:

- `huri_core/core/` — `module` and `events` (the base classes), `bus` (the
  event graph), `session`, `sender`, `huri` (the Serve ingress and the
  per-session router), `factory` (builds a session's modules), `plugins`
  (entry point discovery, namespaces), `manifest`, `compat` (startup and
  session checks), `client` (the client SDK), `dataclasses/config` (the
  session schema), `user_config`
- `huri_core/app.py`, `huri_core/launch_huri.py` — the server entry points
- `huri_core/testing.py` — `ModuleHarness`, `LocalHandle`
- `huri_core/cli.py` — the `huri` command, a dispatcher over the
  `huri.commands` entry points
- `tests/core/` — everything above, with toy modules and events only
- `docs/` — [ARCHITECTURE.md](docs/ARCHITECTURE.md) (how the HuRI repositories
  fit) and the beta test plan ([btp.md](docs/btp.md), [btp.pdf](docs/btp.pdf))
- `scripts/check_links.py` — the link checker of README.md, CONTRIBUTING.md,
  RELEASING.md and docs/ (`--siblings DIR` also resolves deep links into
  checkouts of the other repositories, `--external` fetches web links);
  tested by `tests/test_check_links.py`
