Refactor API#5
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…n protocol definition
Implementations can use these options rather than needing to re-define them per module
Components are now uniquely identified and are used to index into the simulation to interact with running members. Interaction is achieved through asyncio co-processes, and components can list their dependencies that must remain running when interacting with the component.
Run is implemented as a context manager to handle simulation start and stop automatically
Bakefile integrates more tightly with Docker than makefiles and provides a more ergonomic experience
These contexts are defined in the bakefile and allow us to define intermediate images without tagging them
Instead of copying multicosim files to an intermediate image and then installing, we mount the context and install directly from that, reducing the number of dockerfile instructions
Psy-taliro is outside the scope of this project and is not used in any examples. Nox depends on a more recent version of attrs so we remove the dependency on psy-taliro
Create test session that runs test module against python version matrix
Instead of setting the version in both the pyproject and __version__ attribute, dynamically populate __version__ using importlib.metadata
By using a uv workspace we ensure the compatibility between both container programs and the multicosim library. This also allows us to more easily manage the development environment
Since sub-programs are now workspace members, they do not have their own lockfiles and must use the top-level one.
Rather than raise an exception, return a value from the coroutine that monitors a component's dependencies. This way we can raise the exception on the main thread and a value will be returned from both coroutines which satisfies the type checker.
…ging dependency groups.
Change workflow definitions to hopefully speed up execution by avoiding downloading Python too many times.
Using numeric values for Python versions causes trailing zeros to be dropped (i.e. 3.10 -> 3.1) which may refer to version that no longer exist.
Resolve MyPy error about duplicate rover.py module. Make roverctl executable for ease of use. Previous organization was to avoid installing unnecessary modules into the virtual environment (which uv doesn't do) and avoid Gazebo import errors (which we have confined to the vehicles module).
…tifacts when syncing virtual environment.
This allows us to share dependency versions with workspace members and avoid having to specify version ranges multiple times. This also installs workspace members in editable mode to avoid code duplication.
Refactor rover example inputs to accept more options as command-line arguments. Refactor rover control messages to support pickling. Create more stubs to ensure roverctl package type-checks. Update docker bakefile to build rover controller image from root context. Refactor gazebo module to generate world name when constructed.
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Update API to improve ergonomics. The objective of these changes is to make it easier to define new components, and extend existing components without compromising functionality.
These changes introduce several async functions which enable container monitoring during interaction. Monitoring is a major feature we are excited to include because it ensures that component failures can effectively interrupt the simulations instead of causing other components to idle forever when their data sources are no longer running.