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.
Use variable to configure Gazebo build argument and tag image
It should be invalid to modify a component once created since it is used to interact with the running simulation
success when removing the container.
SIGKILL cannot be caught so we remove it from the handler. Use SIGINT handler instead of trying to catch KeyboardInterrupt for more flexibility.
non-zero exit codes are reported properly
simulation should start paused. Append run flag to gazebo command if run is turned on in Gazebo options
available on 26.04
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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.