From eb2bf011ef059ab0f1ebce19f39f08718b393735 Mon Sep 17 00:00:00 2001 From: Michael B Reiser Date: Mon, 26 Oct 2026 17:08:10 -0400 Subject: [PATCH 1/5] =?UTF-8?q?Rename=20ros2-poc/=20=E2=86=92=20rig/=20and?= =?UTF-8?q?=20arena=5Finterfaces=20=E2=86=92=20rig=5Finterfaces=20(LAB-303?= =?UTF-8?q?=20cleanup,=20no=20behavior=20change)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Decision record docs/development/rig-software-repos-and-runners.md §3.2 / §7.12. Under rmw_zenoh the message type name is part of the wire key and of every recorded bag's schema, so the package is renamed before any released bag carries the typed names. - git mv ros2-poc → rig; interfaces/arena_interfaces → interfaces/rig_interfaces; .github/workflows/arena-interfaces.yml → rig-interfaces.yml (name, path filters, working-directory, artifact/channel names, tag trigger rig-interfaces-v*, repository variable RIG_INTERFACES_CHANNEL, concurrency group). - Package renamed in package.xml, CMakeLists.txt, the package pixi.toml and the workspace pixi.toml (path dep, workspace name "rig"); version bumped 0.1.0 → 0.2.0 (a renamed package is a new package). Message type names ArenaFrame / FicTracFrame / ConnectorReply are unchanged; only the package changes. - Every import / type string / typesupport glob in rig/nodes and rig/tests, every path in CLAUDE.md, the g6-orientation skill, js/ comments and strings, the two test version strings ('3.4 · rig'), and the docs that name the current path. - Records (ww18 results, ScanImage day, typed-windows, the explainer HTML, channel/README) keep their historical names and carry one italic note about the rename. - typed-prebuilt: the old pin (commit 30512581, ros2-poc/channel) holds arena_interfaces 0.1.0 (win-64), which code importing rig_interfaces must never install; the feature and environment are commented out with a TODO(rename) until the CI-built rig_interfaces 0.2.0 channel is committed (next commits of this PR). - pixi.lock: hand-edited (three conda_source records renamed, the typed-prebuilt environment and its one raw.githubusercontent.com package record dropped) — a `pixi lock` re-solve on this Mac upgraded all of RoboStack (build 25 → 27, Python 3.12 → 3.14), which a mechanical rename must not do. `pixi install --locked` accepts the edited lock. Co-Authored-By: Claude Fable 5.1 --- .agents/skills/g6-orientation/SKILL.md | 4 +- ...rena-interfaces.yml => rig-interfaces.yml} | 50 +- CLAUDE.md | 8 +- .../development/fictrac-columns-in-the-bag.md | 16 +- .../rig-software-repos-and-runners.md | 14 +- .../ros2-mcap-foxglove-talk-outline.md | 8 +- js/arena-runner-g6.js | 2 +- js/plugin-registry.js | 2 +- {ros2-poc => rig}/.gitignore | 2 +- {ros2-poc => rig}/README.md | 12 +- {ros2-poc => rig}/SCANIMAGE-DAY.md | 10 +- {ros2-poc => rig}/WINDOWS-TEST.md | 34 +- {ros2-poc => rig}/channel/README.md | 2 + {ros2-poc => rig}/config/zenoh-router.json5 | 0 {ros2-poc => rig}/config/zenoh-session.json5 | 0 .../docs/build-standalone-explainer.py | 2 +- .../docs/foxglove-arena-layout.json | 0 .../docs/img/foxglove_bench_bag.png | Bin .../pattern_toprow_grat20_green_frame0.png | Bin {ros2-poc => rig}/docs/img/rqt_graph_live.png | Bin .../docs/img/studio_bridge_connected.jpg | Bin {ros2-poc => rig}/docs/plan-b-explainer.html | 1 + .../docs/plan-b-explainer.standalone.html | 1 + {ros2-poc => rig}/docs/shm-bench.md | 6 +- .../docs/typed-distribution-decision.md | 40 +- {ros2-poc => rig}/docs/typed-windows.md | 2 + {ros2-poc => rig}/foxglove/arena-bias.json | 0 {ros2-poc => rig}/foxglove/arena-fictrac.json | 0 .../interfaces/rig_interfaces}/CMakeLists.txt | 2 +- .../rig_interfaces}/msg/ArenaFrame.msg | 0 .../rig_interfaces}/msg/ConnectorReply.msg | 0 .../rig_interfaces}/msg/FicTracFrame.msg | 0 .../interfaces/rig_interfaces}/package.xml | 4 +- .../interfaces/rig_interfaces}/pixi.toml | 8 +- {ros2-poc => rig}/mcap_bench.py | 0 {ros2-poc => rig}/nodes/_common.py | 10 +- {ros2-poc => rig}/nodes/_rows.py | 0 {ros2-poc => rig}/nodes/bias_cmd.py | 0 {ros2-poc => rig}/nodes/bias_node.py | 0 {ros2-poc => rig}/nodes/bias_sim.py | 0 {ros2-poc => rig}/nodes/bridge_node.py | 20 +- {ros2-poc => rig}/nodes/build_interfaces.py | 10 +- {ros2-poc => rig}/nodes/export_log.py | 0 .../nodes/fictrac_udp_adapter.py | 10 +- {ros2-poc => rig}/nodes/foxglove_json.py | 4 +- {ros2-poc => rig}/nodes/graph_dump.py | 0 {ros2-poc => rig}/nodes/kinefly_sim.py | 0 .../nodes/kinefly_udp_adapter.py | 0 {ros2-poc => rig}/nodes/mcap_convert.py | 2 +- {ros2-poc => rig}/nodes/mcap_index.py | 0 {ros2-poc => rig}/nodes/recorder.py | 0 {ros2-poc => rig}/nodes/rig.py | 4 +- {ros2-poc => rig}/nodes/scanimage_cmd.py | 0 {ros2-poc => rig}/nodes/scanimage_node.py | 0 {ros2-poc => rig}/nodes/viz_node.py | 0 {ros2-poc => rig}/pixi.lock | 429 +----------------- {ros2-poc => rig}/pixi.toml | 48 +- {ros2-poc => rig}/scanimage-day-2026-10-16.md | 2 + {ros2-poc => rig}/shm_bench.py | 0 {ros2-poc => rig}/shm_bench_qpc.py | 0 {ros2-poc => rig}/sizing/compare.py | 0 {ros2-poc => rig}/sizing/frames300.py | 0 .../tests/check_runlog_readers.js | 2 +- {ros2-poc => rig}/tests/si_json_mock.py | 0 {ros2-poc => rig}/tests/studio_emulator.py | 2 +- {ros2-poc => rig}/tests/test_ros2_poc.py | 14 +- {ros2-poc => rig}/tests/test_viz_node.py | 0 {ros2-poc => rig}/tools/patfile.py | 0 {ros2-poc => rig}/tools/tiff_run_to_mcap.py | 4 +- .../windows-results-ww18-2026-10-15.md | 2 + tests/test-arena-runner-g6.js | 2 +- tests/test-fictrac-bridge-client.js | 2 +- 72 files changed, 198 insertions(+), 599 deletions(-) rename .github/workflows/{arena-interfaces.yml => rig-interfaces.yml} (76%) rename {ros2-poc => rig}/.gitignore (83%) rename {ros2-poc => rig}/README.md (94%) rename {ros2-poc => rig}/SCANIMAGE-DAY.md (95%) rename {ros2-poc => rig}/WINDOWS-TEST.md (95%) rename {ros2-poc => rig}/channel/README.md (92%) rename {ros2-poc => rig}/config/zenoh-router.json5 (100%) rename {ros2-poc => rig}/config/zenoh-session.json5 (100%) rename {ros2-poc => rig}/docs/build-standalone-explainer.py (96%) rename {ros2-poc => rig}/docs/foxglove-arena-layout.json (100%) rename {ros2-poc => rig}/docs/img/foxglove_bench_bag.png (100%) rename {ros2-poc => rig}/docs/img/pattern_toprow_grat20_green_frame0.png (100%) rename {ros2-poc => rig}/docs/img/rqt_graph_live.png (100%) rename {ros2-poc => rig}/docs/img/studio_bridge_connected.jpg (100%) rename {ros2-poc => rig}/docs/plan-b-explainer.html (99%) rename {ros2-poc => rig}/docs/plan-b-explainer.standalone.html (99%) rename {ros2-poc => rig}/docs/shm-bench.md (93%) rename {ros2-poc => rig}/docs/typed-distribution-decision.md (79%) rename {ros2-poc => rig}/docs/typed-windows.md (99%) rename {ros2-poc => rig}/foxglove/arena-bias.json (100%) rename {ros2-poc => rig}/foxglove/arena-fictrac.json (100%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/CMakeLists.txt (97%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/msg/ArenaFrame.msg (100%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/msg/ConnectorReply.msg (100%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/msg/FicTracFrame.msg (100%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/package.xml (92%) rename {ros2-poc/interfaces/arena_interfaces => rig/interfaces/rig_interfaces}/pixi.toml (75%) rename {ros2-poc => rig}/mcap_bench.py (100%) rename {ros2-poc => rig}/nodes/_common.py (96%) rename {ros2-poc => rig}/nodes/_rows.py (100%) rename {ros2-poc => rig}/nodes/bias_cmd.py (100%) rename {ros2-poc => rig}/nodes/bias_node.py (100%) rename {ros2-poc => rig}/nodes/bias_sim.py (100%) rename {ros2-poc => rig}/nodes/bridge_node.py (98%) rename {ros2-poc => rig}/nodes/build_interfaces.py (93%) rename {ros2-poc => rig}/nodes/export_log.py (100%) rename {ros2-poc => rig}/nodes/fictrac_udp_adapter.py (93%) rename {ros2-poc => rig}/nodes/foxglove_json.py (98%) rename {ros2-poc => rig}/nodes/graph_dump.py (100%) rename {ros2-poc => rig}/nodes/kinefly_sim.py (100%) rename {ros2-poc => rig}/nodes/kinefly_udp_adapter.py (100%) rename {ros2-poc => rig}/nodes/mcap_convert.py (99%) rename {ros2-poc => rig}/nodes/mcap_index.py (100%) rename {ros2-poc => rig}/nodes/recorder.py (100%) rename {ros2-poc => rig}/nodes/rig.py (99%) rename {ros2-poc => rig}/nodes/scanimage_cmd.py (100%) rename {ros2-poc => rig}/nodes/scanimage_node.py (100%) rename {ros2-poc => rig}/nodes/viz_node.py (100%) rename {ros2-poc => rig}/pixi.lock (96%) rename {ros2-poc => rig}/pixi.toml (82%) rename {ros2-poc => rig}/scanimage-day-2026-10-16.md (99%) rename {ros2-poc => rig}/shm_bench.py (100%) rename {ros2-poc => rig}/shm_bench_qpc.py (100%) rename {ros2-poc => rig}/sizing/compare.py (100%) rename {ros2-poc => rig}/sizing/frames300.py (100%) rename {ros2-poc => rig}/tests/check_runlog_readers.js (99%) rename {ros2-poc => rig}/tests/si_json_mock.py (100%) rename {ros2-poc => rig}/tests/studio_emulator.py (99%) rename {ros2-poc => rig}/tests/test_ros2_poc.py (98%) rename {ros2-poc => rig}/tests/test_viz_node.py (100%) rename {ros2-poc => rig}/tools/patfile.py (100%) rename {ros2-poc => rig}/tools/tiff_run_to_mcap.py (99%) rename {ros2-poc => rig}/windows-results-ww18-2026-10-15.md (99%) diff --git a/.agents/skills/g6-orientation/SKILL.md b/.agents/skills/g6-orientation/SKILL.md index cebdf46b..9a4b6637 100644 --- a/.agents/skills/g6-orientation/SKILL.md +++ b/.agents/skills/g6-orientation/SKILL.md @@ -42,7 +42,7 @@ interface. |---|---| | **reiserlab/maDisplayTools** | **MATLAB** tools (G4+). Pattern math reference — **web output must match MATLAB exactly** (CI validates, tol 1e-4). Its protocol **runner is G4.1-only and frozen** (decision 2026-10-26); protocol authority = `webDisplayTools/docs/development/v3-spec.md` + conformance fixtures. (Its `docs/development/G4G6_ROADMAP.md` is largely historical now — use the umbrella docs for current G6.) | | **reiserlab/LED-Display_pyDisplayTools** (pyDisplayTools) | **Python** tools for the displays (G4 pattern + experiment-folder tools). **Accepted destination** for the Python arena library and the **headless runner** (`arena-run`), a peer of the web runner (decision 2026-10-26). | -| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/ros2-poc/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. | +| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/rig/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. | ### G6 firmware (what the web connects to over USB) | repo | role | @@ -124,7 +124,7 @@ interface. (WebSocket `ws://localhost:8765` ← UDP `:60000`) → browser. `pixi run bridge` + `pixi run sim` (start the bridge first). The web runner executes only the `fictrac` and `log` plugins; `backlight`/`camera`/`temperature` are declared for MATLAB and **skipped on the web**. -- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `ros2-poc/` replaces the bridge with a graph +- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `rig/` replaces the bridge with a graph (rmw_zenoh, MCAP record, BIAS + ScanImage connectors) behind the SAME WebSocket; the Studio is unchanged. Where the pieces will live from here: `rig-software-repos-and-runners.md` (above). diff --git a/.github/workflows/arena-interfaces.yml b/.github/workflows/rig-interfaces.yml similarity index 76% rename from .github/workflows/arena-interfaces.yml rename to .github/workflows/rig-interfaces.yml index 2242cf32..215eccf9 100644 --- a/.github/workflows/arena-interfaces.yml +++ b/.github/workflows/rig-interfaces.yml @@ -1,30 +1,30 @@ -# Build ros2-poc/interfaces/arena_interfaces (the typed ROS 2 messages of the arena bridge graph, +# Build rig/interfaces/rig_interfaces (the typed ROS 2 messages of the arena bridge graph, # LAB-303) ONCE per platform in CI and publish the result as a conda channel, so a rig PC installs # typed messages as a download — no MSVC, no build backend, no MAX_PATH workaround. Decision and -# the consumer-side manifest edits: ros2-poc/docs/typed-distribution-decision.md; the measurements -# behind it: ros2-poc/docs/typed-windows.md. +# the consumer-side manifest edits: rig/docs/typed-distribution-decision.md; the measurements +# behind it: rig/docs/typed-windows.md. # # Runs: build-only on a PR that touches the package or this file (proves the three platforms still -# build); the `arena-interfaces-channel` artifact on every run; the hosted-channel upload only on an -# `arena-interfaces-v*` tag AND only when the repository variable ARENA_INTERFACES_CHANNEL names a +# build); the `rig-interfaces-channel` artifact on every run; the hosted-channel upload only on an +# `rig-interfaces-v*` tag AND only when the repository variable RIG_INTERFACES_CHANNEL names a # prefix.dev channel (with the PREFIX_API_KEY secret). Until the lab owns one, the channel artifact -# is committed into ros2-poc/channel/ by hand (the decision note has the recipe). -name: arena-interfaces +# is committed into rig/channel/ by hand (the decision note has the recipe). +name: rig-interfaces on: pull_request: paths: - - 'ros2-poc/interfaces/**' - - '.github/workflows/arena-interfaces.yml' + - 'rig/interfaces/**' + - '.github/workflows/rig-interfaces.yml' push: - tags: ['arena-interfaces-v*'] + tags: ['rig-interfaces-v*'] workflow_dispatch: permissions: contents: read concurrency: - group: arena-interfaces-${{ github.event.pull_request.number || github.ref }} + group: rig-interfaces-${{ github.event.pull_request.number || github.ref }} cancel-in-progress: true env: @@ -48,7 +48,7 @@ jobs: defaults: run: shell: bash - working-directory: ros2-poc + working-directory: rig steps: - uses: actions/checkout@v7 with: @@ -57,16 +57,16 @@ jobs: with: pixi-version: ${{ env.PIXI_VERSION }} run-install: false - # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\ros2-poc, 45 + # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\rig, 40 # chars) plus the ~211 chars the rosidl build adds crosses 260. detached-environments # moves .pixi (build workspace included) to a 4-char root — the ww18 recipe. - name: Windows build root if: runner.os == 'Windows' run: pixi config set --local detached-environments 'C:\px' - - name: pixi build arena_interfaces + - name: pixi build rig_interfaces run: | rm -rf ../dist - pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist + pixi build --path interfaces/rig_interfaces/pixi.toml --output-dir ../dist mkdir -p ../dist/${{ matrix.subdir }} mv ../dist/*.conda ../dist/${{ matrix.subdir }}/ ls -la ../dist/${{ matrix.subdir }} @@ -84,7 +84,7 @@ jobs: EOF - uses: actions/upload-artifact@v5 with: - name: arena_interfaces-${{ matrix.subdir }} + name: rig_interfaces-${{ matrix.subdir }} path: dist/${{ matrix.subdir }}/*.conda if-no-files-found: error retention-days: 30 @@ -102,13 +102,13 @@ jobs: # dist/, so the subdir is restored here from the artifact name). - uses: actions/download-artifact@v5 with: - pattern: arena_interfaces-* + pattern: rig_interfaces-* path: artifacts - name: assemble + index the channel run: | mkdir -p channel - for d in artifacts/arena_interfaces-*; do - subdir=${d#artifacts/arena_interfaces-} + for d in artifacts/rig_interfaces-*; do + subdir=${d#artifacts/rig_interfaces-} mkdir -p "channel/$subdir" cp "$d"/*.conda "channel/$subdir/" done @@ -121,20 +121,20 @@ jobs: for name, rec in pk.items(): print(rd.parent.name, name, rec["sha256"], [d for d in rec["depends"] if d.startswith("ros2-distro-mutex")]) EOF - # The deliverable: a complete three-platform channel. Commit it into ros2-poc/channel/ + # The deliverable: a complete three-platform channel. Commit it into rig/channel/ # (decision note §"Releasing a new build") or let the step below upload it. - uses: actions/upload-artifact@v5 with: - name: arena-interfaces-channel + name: rig-interfaces-channel path: channel if-no-files-found: error retention-days: 90 # Hosted channel (prefix.dev), only when the lab has one: set the repository variable - # ARENA_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a + # RIG_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a # PR build can never publish. - name: upload to the hosted channel - if: startsWith(github.ref, 'refs/tags/arena-interfaces-v') && vars.ARENA_INTERFACES_CHANNEL != '' + if: startsWith(github.ref, 'refs/tags/rig-interfaces-v') && vars.RIG_INTERFACES_CHANNEL != '' env: PREFIX_API_KEY: ${{ secrets.PREFIX_API_KEY }} - ARENA_INTERFACES_CHANNEL: ${{ vars.ARENA_INTERFACES_CHANNEL }} - run: pixi exec rattler-build upload prefix --channel "$ARENA_INTERFACES_CHANNEL" channel/*/*.conda + RIG_INTERFACES_CHANNEL: ${{ vars.RIG_INTERFACES_CHANNEL }} + run: pixi exec rattler-build upload prefix --channel "$RIG_INTERFACES_CHANNEL" channel/*/*.conda diff --git a/CLAUDE.md b/CLAUDE.md index 3f0824dc..afbcb785 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -108,7 +108,7 @@ When editing web tools, audit all buttons and controls in the modified code sect - Web outputs must match MATLAB outputs exactly **Repository boundaries (decision 2026-10-26):** `docs/development/rig-software-repos-and-runners.md` -is the record. The browser tools and their rig-side gateway (`ros2-poc/nodes/bridge_node.py`) stay +is the record. The browser tools and their rig-side gateway (`rig/nodes/bridge_node.py`) stay here; the Python arena library + headless runner go to `LED-Display_pyDisplayTools`; shared ROS 2 infrastructure (interfaces, device nodes, recording, supervision) goes to `rig-nodes`, which does not exist yet. Until the extraction session, every file is where the record's inventory says it is today. @@ -369,17 +369,17 @@ fix flows to every page automatically; two hand-written HTML pages never will. colocated < uploaded — every write names its layer, arrival order never decides). The awaits before the load are allowlisted in `tests/test-studio-preview-sources.js`. - **ROS 2 bridge = the bridge going forward (LAB-303, decided 2026-10-16/17).** Rig PCs run - `cd ros2-poc && pixi run rig` (its own pixi workspace: Zenoh router + FicTrac adapter + bridge node + `cd rig && pixi run rig` (its own pixi workspace: Zenoh router + FicTrac adapter + bridge node + optional `--bias` / `--scanimage` / `--foxglove`). Bridge 3.4 (`pixi run bridge` at the root) is the legacy path for course rigs, BUT `fictrac-bridge/bridge.py` is STILL IMPORTED by - `ros2-poc/nodes/bridge_node.py` and `mcap_convert.py` (Hub, LogWriter, Pipeline, the pure + `rig/nodes/bridge_node.py` and `mcap_convert.py` (Hub, LogWriter, Pipeline, the pure encoders): a change there changes ROS acquisition and the conversion of every historical bag. **MCAP bag = the record**; the `behavior_v2` JSONL is DERIVED (converter), transitional and FicTrac-only — new plugin streams go into the bag, never into a new `behavior_vN`. Bags are archived on the group share (later a bucket), never pushed to GitHub, so `--max-bag-mb` (rosbag2 splitting) is an optional knob, off by default. `mcap_index.reindex` replaces the bag ATOMICALLY (`os.replace`); never reintroduce an unlink-then-rename on the record of truth. Row encoders shared - by the live writer and the converter live in `ros2-poc/nodes/_rows.py` (NO ROS imports — the + by the live writer and the converter live in `rig/nodes/_rows.py` (NO ROS imports — the converter must run without a ROS process; `converted == live` depends on ONE encoder). - **Connector plugins (LAB-303):** a protocol plugin whose class is `BiasPlugin` → connector `bias`, `ScanImagePlugin` → `scanimage` (`connectorPluginNames(exp)` in the Studio). The runner turns their diff --git a/docs/development/fictrac-columns-in-the-bag.md b/docs/development/fictrac-columns-in-the-bag.md index 4dd5f093..67ee9094 100644 --- a/docs/development/fictrac-columns-in-the-bag.md +++ b/docs/development/fictrac-columns-in-the-bag.md @@ -3,7 +3,7 @@ **Status:** DECIDED (Michael, 2026-10-18): 10 columns, one record per frame, `float64`, one MCAP message per frame (no batching; "simpler is better", 2× the JSONL accepted). Nothing in the recorder changes with this PR; the implementation is its own PR (§4). -**Question:** the ROS 2 bridge (`ros2-poc/`, PR #254) records every FicTrac frame twice — the +**Question:** the ROS 2 bridge (`rig/`, PR #254) records every FicTrac frame twice — the 25-column record as the adapter received it (`/fictrac/frame`, with the verbatim line) and the closed-loop evaluation (`/arena/frame`). Since the bags will be pushed to the GitHub data repo like the `.jsonl.gz` is today (Michael, 2026-10-18), bag size matters: which FicTrac columns does the bag @@ -11,7 +11,7 @@ have to keep so it stays near the size of today's `.jsonl.gz`? **Answer in one line:** keep 10 of the 25 columns (the 5 the behavior row has, plus the error score, the three lab-frame delta-rotation components and the sequence counter), store them in the ONE per-frame `/arena/frame` record and stop recording the raw FicTrac topics by default. Measured on the -two bench bags with a chunk-only index and zstd 19, one message per frame (`ros2-poc/sizing/columns.py`, +two bench bags with a chunk-only index and zstd 19, one message per frame (`rig/sizing/columns.py`, the reproducible script of the implementation PR #264): **2.41× and 2.68×** the `.jsonl.gz` (today's bags: 10.2× and 30.4×; all 25 columns: 4.4× and 5.3×). For a 30 minute run at 50 Hz that is ≈ 5–5.5 MB against ≈ 2.3 MB today. Two levers were measured and deliberately not pulled: batching the records @@ -59,7 +59,7 @@ dashboard derivations), `js/runlog-replay.js` (`COL_X/Y/HD/TS` for `full`-level forward / speed / turning / heading, `fc` gaps), `scripts/closed-loop-report.py` (`ms, fc, idx, hd`; `f[0]`, `f[16]` on `full` logs), `scripts/runlog-check.py` (counts rows), `scripts/bench-check.py` (`ms, idx`), `scripts/telemetry-report.py` / `wedge-scan.py` (skip FicTrac rows), -`fictrac-bridge/fictrac_sim.py` (writes all 25; col 22 in ns), and in `ros2-poc/`: +`fictrac-bridge/fictrac_sim.py` (writes all 25; col 22 in ns), and in `rig/`: `nodes/bridge_node.py` (`arena_frame_msg`), `nodes/mcap_convert.py` (`frame_line`, `fictrac_fields`: the 25 columns are read ONLY for `--level full`), `interfaces/…/FicTracFrame.msg`, `interfaces/…/ArenaFrame.msg`. The MATLAB tools do not read these logs. @@ -169,7 +169,7 @@ so the bag says "untracked" rather than "missing". The JSONL is unaffected (no r ## 3. Measured bag sizes Two real bench runs (Mac, 2026-10-14, simulator-driven FicTrac at 50 Hz, G6 controller, BIAS node; -`ros2-poc/runlogs/arena-log-20261014-194449-517` = 181 s, typed topics; `…-204300-169` = 164 s, +`rig/runlogs/arena-log-20261014-194449-517` = 181 s, typed topics; `…-204300-169` = 164 s, String fallback), each with its `.jsonl` as exported; `.jsonl.gz` = gzip −9 of that file, which is what the Studio commits. Every MCAP variant is written by the pure-Python `mcap` writer the way `mcap_index.reindex` writes the final layout: chunk index only (no per-message index), zstd level 19, @@ -177,7 +177,7 @@ what the Studio commits. Every MCAP variant is written by the pure-Python `mcap` are packed as little-endian structs (≈ typed CDR: `int64` for cols 1/23, `int64` ns for col 22, `float64` otherwise); `/arena/frame` is re-packed from its decoded fields in BOTH bags so the typed and the String run compare like for like; every other topic (`/arena/browser` echoes, `/bias/*`, -events, session) is kept byte for byte. Script: `ros2-poc/sizing/columns.py` +events, session) is kept byte for byte. Script: `rig/sizing/columns.py` (`pixi run size-columns -- --all`), PR #264. | Variant (chunk-only index, zstd 19) | bag 1 (9 055 frames) | × jsonl.gz | bag 2 (8 199 frames) | × jsonl.gz | @@ -236,10 +236,10 @@ the pinned `ros-jazzy-rosbag2-storage-mcap` when implementing, or apply the tuni ## 4. Code change list (not implemented here) -All under `ros2-poc/` on PR #254's branch, its own PR after the pilot starts (plan §3 said the +All under `rig/` on PR #254's branch, its own PR after the pilot starts (plan §3 said the archive publisher is its own PR; this is the recorder half of the same decision). -1. **`interfaces/arena_interfaces/msg/ArenaFrame.msg`** — add `err`, `dr_lab_x/y/z`, `ft_seq`, +1. **`interfaces/rig_interfaces/msg/ArenaFrame.msg`** — add `err`, `dr_lab_x/y/z`, `ft_seq`, `ft_ns`, `flags` (above). One type for the live topic and the bag, one message per frame, as today; the recorded copy carries NaN in `turning_dps` / `forward_mms` (live-only, §3 correction). The String fallback carries the same fields in its JSON object. @@ -278,7 +278,7 @@ archive publisher is its own PR; this is the recorder half of the same decision) §2 becomes the `ArenaFrame` field reference; `telemetry-logging-reference.md` gets a one-paragraph pointer (the JSONL section is unchanged). -Outside `ros2-poc/` nothing changes: `fictrac-bridge/bridge.py`, `js/kinematics.js`, the replay, the +Outside `rig/` nothing changes: `fictrac-bridge/bridge.py`, `js/kinematics.js`, the replay, the dashboard and every script read the JSONL, whose rows are the same five columns as before. ## 5. Proposed Linear comment on LAB-303 (text only; not applied) diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md index 3a0a2c5b..8181ef76 100644 --- a/docs/development/rig-software-repos-and-runners.md +++ b/docs/development/rig-software-repos-and-runners.md @@ -13,7 +13,7 @@ MATLAB. It records decisions and their reasons; it moves no code. Python. 2. **Three repositories with downward dependencies:** - `reiserlab/webDisplayTools`: the browser tools and their rig-side gateway (today's - `ros2-poc/nodes/bridge_node.py`), the protocol v3 spec and its conformance fixtures, the arena + `rig/nodes/bridge_node.py`), the protocol v3 spec and its conformance fixtures, the arena rig's composition. - `reiserlab/LED-Display_pyDisplayTools` (revived): the Python arena library and the headless runner. - `reiserlab/rig-nodes` (new): shared ROS 2 infrastructure for every lab rig (interfaces, device @@ -35,7 +35,7 @@ MATLAB. It records decisions and their reasons; it moves no code. ## 2. Context -Since 2026-10-16 the lab's bridge is a ROS 2 graph (LAB-303). The graph lives in `ros2-poc/` on PR +Since 2026-10-16 the lab's bridge is a ROS 2 graph (LAB-303). The graph lives in `rig/` (renamed from `ros2-poc/` on 2026-10-26), landed by PR #254, release candidate 2026-10-20 (`origin/next` 8cd0148), with satellites: ScanImage frames (#261, 15db22c), SiPM (#266, 457b478, stacked on #261), the 10-column FicTrac record (#264, cbf604f, stacked on #254), the Worker timer (#260, 0930df6), and the okey-cokey dashboard branch (c2f8f36, no PR). It has @@ -44,7 +44,7 @@ BIAS and ScanImage connectors and Foxglove dashboards. Three facts prompted this record: -- **Most of `ros2-poc/` is not about the display.** Of its ~25 Python modules, the device adapters, +- **Most of `rig/` is not about the display.** Of its ~25 Python modules, the device adapters, recorder, MCAP tools and launcher serve any rig. The display-bound parts are the Studio gateway (`bridge_node.py`, which imports `fictrac-bridge/bridge.py` by path and owns the recording lifecycle in `RecordingLogWriter`), the transitional behavior_v2 export (`mcap_convert.py`, LAB-309), the arena @@ -71,7 +71,7 @@ representation (IR), only `arena-link.js` is Web Serial, and the golden wire vec |---|---|---| | **webDisplayTools** | The browser and its rig-side gateway. Arena Studio, designer, pattern tools, the JS runner, GitHub Pages and the release tiers. The protocol v3 spec and the conformance fixtures. The gateway (`bridge_node`: hello/hello_ack, config, log_control, connector_command), the behavior_v2 export while LAB-309 lives, the arena visualization nodes and Foxglove layouts, the arena rig profile and its deployable `pixi.toml`, the browser-contract conformance tools. | pyDisplayTools and rig-nodes packages, pinned | | **LED-Display_pyDisplayTools** | The Python arena library and the headless runner. Existing G4 pattern and experiment-folder tools; new: v3 parser to IR, G6 wire encoder/decoder (port of `arena-wire-g6.js`, golden-tested), pyserial link, closed-loop mapping (the pure parts of `bridge.py`'s `Pipeline`, imported by the gateway instead of carried as a copy), pattern-file and panel-color helpers already written in Python, the `arena-run` CLI and the `run_protocol` ROS action. The library core (parser, IR, wire, serial, closed-loop evaluator) must import without ROS; the graph integration is an optional extra, so pattern tools and simple serial runs do not inherit the rig middleware stack. | rig-nodes packages, pinned (optional extra) | -| **rig-nodes** | Shared infrastructure for every lab rig. `rig_interfaces` (today `arena_interfaces`), device adapters and simulators, recording primitives, supervision primitives, Zenoh configuration, generic Foxglove layouts, benchmarks, and future shared processing nodes. | nothing of ours | +| **rig-nodes** | Shared infrastructure for every lab rig. `rig_interfaces` (renamed from `arena_interfaces` on 2026-10-26), device adapters and simulators, recording primitives, supervision primitives, Zenoh configuration, generic Foxglove layouts, benchmarks, and future shared processing nodes. | nothing of ours | ### 3.2 Rules @@ -101,13 +101,13 @@ representation (IR), only `arena-link.js` is Web Serial, and the golden wire vec ### 3.3 Inventory (pinned) -Every file under `ros2-poc/` on `origin/next` 8cd0148 and on the satellite heads, with its destination. +Every file under `rig/` (then `ros2-poc/`) on `origin/next` 8cd0148 and on the satellite heads, with its destination. "stays" = webDisplayTools. Records of past sessions (run sheets, Windows results, the Plan B explainer) stay as history. | Destination | Files | |---|---| -| **rig-nodes** | `interfaces/arena_interfaces/**` (→ `rig_interfaces`), `channel/README.md`, `config/zenoh-router.json5`, `config/zenoh-session.json5`, `nodes/_common.py`, `nodes/fictrac_udp_adapter.py`, `nodes/kinefly_udp_adapter.py`, `nodes/kinefly_sim.py`, `nodes/bias_node.py`, `nodes/bias_sim.py`, `nodes/bias_cmd.py`, `nodes/scanimage_node.py`, `nodes/scanimage_cmd.py`, `tests/si_json_mock.py`, `nodes/recorder.py`, `nodes/mcap_index.py`, `nodes/graph_dump.py`, `nodes/build_interfaces.py`, `sizing/compare.py`, `sizing/frames300.py`, `sizing/columns.py` (#264), the generic String→JSON-schema rewriter in `nodes/foxglove_json.py`, `shm_bench.py`, `shm_bench_qpc.py`, `mcap_bench.py`, `docs/shm-bench.md`, `docs/typed-distribution-decision.md`, `docs/typed-windows.md`; from #261/#266: `nodes/scanimage_frames_node.py`, `tests/test_scanimage_frames.py`, `tests/zmq_frames_mock.py`, `tools/zmq_latency_report.py`, `nodes/sipm_node.py`, `nodes/sipm_cmd.py`, `nodes/thorsipm.py`, `tests/test_sipm.py`; from okey-cokey: `nodes/bias_health.py`, `tools/ufmf.py` | +| **rig-nodes** | `interfaces/rig_interfaces/**` (renamed from `arena_interfaces` on 2026-10-26), `channel/README.md`, `config/zenoh-router.json5`, `config/zenoh-session.json5`, `nodes/_common.py`, `nodes/fictrac_udp_adapter.py`, `nodes/kinefly_udp_adapter.py`, `nodes/kinefly_sim.py`, `nodes/bias_node.py`, `nodes/bias_sim.py`, `nodes/bias_cmd.py`, `nodes/scanimage_node.py`, `nodes/scanimage_cmd.py`, `tests/si_json_mock.py`, `nodes/recorder.py`, `nodes/mcap_index.py`, `nodes/graph_dump.py`, `nodes/build_interfaces.py`, `sizing/compare.py`, `sizing/frames300.py`, `sizing/columns.py` (#264), the generic String→JSON-schema rewriter in `nodes/foxglove_json.py`, `shm_bench.py`, `shm_bench_qpc.py`, `mcap_bench.py`, `docs/shm-bench.md`, `docs/typed-distribution-decision.md`, `docs/typed-windows.md`; from #261/#266: `nodes/scanimage_frames_node.py`, `tests/test_scanimage_frames.py`, `tests/zmq_frames_mock.py`, `tools/zmq_latency_report.py`, `nodes/sipm_node.py`, `nodes/sipm_cmd.py`, `nodes/thorsipm.py`, `tests/test_sipm.py`; from okey-cokey: `nodes/bias_health.py`, `tools/ufmf.py` | | **pyDisplayTools** | `tools/patfile.py` (pattern-file reader; the repo already has `pyPatternTools`), `nodes/arena_display.py` (Python port of `js/panel-color.js`, okey-cokey branch), the pure functions of `fictrac-bridge/bridge.py` (`Pipeline` mapping, `frame_schema_line`, `compact_arena_command`), `fictrac-bridge/fictrac_sim.py` moves to rig-nodes as a device simulator | | **stays** (gateway, export, composition) | `nodes/bridge_node.py`, `nodes/mcap_convert.py`, `nodes/_rows.py` (behavior_v2 `kf` rows), `nodes/export_log.py`, `nodes/rig.py` (arena composition; its generic preflight/supervision helpers are extracted to rig-nodes first), `pixi.toml`, `pixi.lock`, `.gitignore`, `tests/studio_emulator.py`, `tests/check_runlog_readers.js`, the gateway half of `tests/test_ros2_poc.py` (node-level tests move with their nodes) | | **stays** (arena visualization) | `nodes/viz_node.py`, `tests/test_viz_node.py`, the arena derivation in `nodes/foxglove_json.py`, `foxglove/arena-fictrac.json`, `foxglove/arena-bias.json`, `docs/foxglove-arena-layout.json`, `tools/tiff_run_to_mcap.py`; from okey-cokey: `nodes/stimulus_node.py`, `nodes/stimulus_core.py`, `nodes/dashboard_replay.py`, `tests/test_stimulus.py`, `tests/test_stimulus_live.py`, `foxglove/arena-okey-cokey.json`, `tests/fixtures/protocols-2026-10-14/*` | @@ -119,7 +119,7 @@ stay as history. `meca_interfaces` keeps the robot's actions and services. A message type moves to `rig_interfaces` only when a second consumer appears. The ask for the robot station is **shared distribution (RoboStack Jazzy via pixi), middleware (`rmw_zenoh`), one interfaces build and one deployment recipe**. It is not "drop -colcon": `ros2-poc/pixi.toml` already installs colcon and `build_interfaces.py` runs it inside the pixi +colcon": `rig/pixi.toml` already installs colcon and `build_interfaces.py` runs it inside the pixi environment. LAB-245 currently describes a colcon workspace sourced from PowerShell; the two can be the same environment. diff --git a/docs/development/ros2-mcap-foxglove-talk-outline.md b/docs/development/ros2-mcap-foxglove-talk-outline.md index 7eeaef7d..6df69cc2 100644 --- a/docs/development/ros2-mcap-foxglove-talk-outline.md +++ b/docs/development/ros2-mcap-foxglove-talk-outline.md @@ -3,7 +3,7 @@ Draft 2026-10-21, to expand into a 4-slide deck with 3 live dashboard demos (LAB-303). Suggested timing: about 10 min of slides, 10 min of demos, then discussion. -Numbers marked **measured** come from our own runs (`ros2-poc/README.md`, the ww18 and Oct 16 +Numbers marked **measured** come from our own runs (`rig/README.md`, the ww18 and Oct 16 results). Numbers marked **verify** are general claims to check, or measure, before the talk. --- @@ -34,7 +34,7 @@ results). Numbers marked **verify** are general claims to check, or measure, bef - Browsers: Studio talks to `bridge_node` over `ws://localhost:8765` and stays unmodified. - Small installs: 1.0–1.7 GB environment, but `pixi install` takes 25 s on the Mac (**measured**). -**In our rigs (diagram, built from `ros2-poc/` and `docs/img/rqt_graph_live.png`)** +**In our rigs (diagram, built from `rig/` and `docs/img/rqt_graph_live.png`)** ``` FicTrac ──UDP──▶ fictrac_udp_adapter ─┐ Kinefly ──UDP──▶ kinefly_udp_adapter ─┤ @@ -197,7 +197,7 @@ Foxglove. ## Slide 4: Hybrid architecture. What goes on the graph, into the MCAP, and onto the dashboard? -**Proposal (current practice in `ros2-poc/`, open for discussion)** +**Proposal (current practice in `rig/`, open for discussion)** | stream | rate × size | on the ROS graph | in the MCAP | on the dashboard | |---|---|---|---|---| @@ -255,6 +255,6 @@ Layout → Import from file. 3. D3 (optional): pull the Bergamo run log and rebuild with `--runlog`, so the stimulus track is commanded rather than reconstructed. 4. Slide 2: the shared-memory benchmark has run on the Mac and on ww18 (results above; the ww18 - JSON files are untracked in its `ros2-poc` folder). Optional: re-run the 135 Hz and stress + JSON files are untracked in its `rig` folder). Optional: re-run the 135 Hz and stress rows on ww18 with the fixed pacing. 5. Live fallback: if the live rig misbehaves, every demo has a recorded version. diff --git a/js/arena-runner-g6.js b/js/arena-runner-g6.js index cd3a5b73..c6f11767 100644 --- a/js/arena-runner-g6.js +++ b/js/arena-runner-g6.js @@ -2475,7 +2475,7 @@ var ArenaRunnerG6 = (function () { : sup === null ? 'bridge ' + ((b.bridgeInfo && b.bridgeInfo.version) || '?') + - ' advertises no connectors (bridge ≥ 4 / ros2-poc bridge node needed)' + ' advertises no connectors (bridge ≥ 4 / rig bridge node needed)' : 'bridge has no "' + ir.connector + '" connector', plugin_name: ir.plugin_name, command_name: ir.command_name diff --git a/js/plugin-registry.js b/js/plugin-registry.js index 722b8952..ae8189f1 100644 --- a/js/plugin-registry.js +++ b/js/plugin-registry.js @@ -655,7 +655,7 @@ var BUILTIN_PLUGINS = { }, // ScanImage (two-photon microscope; LAB-303 / LAB-306). WEB-ONLY: driven by the web - // runner through the bridge's `scanimage` connector (ros2-poc/nodes/scanimage_node.py → + // runner through the bridge's `scanimage` connector (rig/nodes/scanimage_node.py → // ScanImage's built-in JSON server on the microscope PC). matlab.class is // forward-looking — MATLAB has no ScanImagePlugin, so a protocol with this plugin runs // on the web runner only. The command set is deliberately small: scan geometry, diff --git a/ros2-poc/.gitignore b/rig/.gitignore similarity index 83% rename from ros2-poc/.gitignore rename to rig/.gitignore index 6da99fcf..7baebd7f 100644 --- a/ros2-poc/.gitignore +++ b/rig/.gitignore @@ -7,7 +7,7 @@ __pycache__/ runlogs/ *.jsonl *.jsonl.gz -# colcon alternative build of interfaces/arena_interfaces (pixi-build is the primary route) +# colcon alternative build of interfaces/rig_interfaces (pixi-build is the primary route) interfaces/build/ interfaces/install/ interfaces/build.log diff --git a/ros2-poc/README.md b/rig/README.md similarity index 94% rename from ros2-poc/README.md rename to rig/README.md index aa147a01..eee75b30 100644 --- a/ros2-poc/README.md +++ b/rig/README.md @@ -20,7 +20,7 @@ untouched, so bridge 3.4 (`pixi run bridge` at the repo root) stays installed si ## Setup and run ```bash -cd ros2-poc +cd rig pixi install # RoboStack Jazzy ros-base + rmw_zenoh + demo nodes + websockets/pyzmq (≈1.3 GB) pixi run rig # router + FicTrac adapter + bridge node → Studio connects to ws://localhost:8765 pixi run rig -- --kinefly --bias # + Kinefly KF/1 adapter + BIAS node @@ -189,7 +189,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa |---|---|---| | MCAP record | `nodes/recorder.py`, `bridge_node.py` | one bag per run (opened with the run's log, closed at `log_control off` / `log_export` / shutdown) holding every device topic as received (raw CDR bytes), `/arena/frame` (the closed-loop evaluation with the node's **own sample time** `t_ms`/`ms` as fields, and as MCAP `publish_time`), `/arena/browser` (**every** browser message, verbatim, with the receive stamp), `/arena/event` (bias_config, heading_tare, connector_status, source_lost/resumed, warn), `/arena/session`. Bridge-side records carry the writer's emission sequence number `seq`. Two writer profiles: `crashsafe` (no chunking, no cache; the default) and rosbag2's `default`. | | converter | `nodes/mcap_convert.py` (`pixi run convert`) | bag → NDJSON, pure Python (`mcap` + a 60-line CDR decoder driven by the schema text rosbag2 embeds): no ROS process needed, reads a torn bag with `--recover`. Reuses bridge.py's own pure encoders (`compact_arena_command`, schema line). Levels are a converter option (`--level behavior_v2|behavior_v1|full`); the run's acked level is the default. `--order seq` reproduces the live writer's order; `--order time` is what a separate closed-loop process would have to do. ONE ms base per run (the pipeline's t0 is set from the log's open stamp — bridge 3.4 takes two samples there, comparison.md appendix 4). `log_export` returns the converted log; the live NDJSON stays as a shadow file during the spike and `converted == live` is checked and printed at every export. | -| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install -e typed`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the opt-in `typed` environment depends on the package by path and carries the ament/rosidl toolchain). The **default environment stays String-only** so a rig PC without a compiler can always install and run the graph; the nodes choose typed topics only when the package imports AND serializes (`_common.probe_interfaces`). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ArenaFrame` also carries two DERIVED channels for live viewing — `turning_dps` (heading rate, deg/s) and `forward_mms` (forward velocity, mm/s; ball diameter `--ball-mm`, 9 mm default) — computed in the bridge node from consecutive frames the way `js/kinematics.js` does (two-point difference on the FicTrac camera clock, NaN on a run's first frame); the hub message to the Studio and the behavior_v1 columns are unchanged. `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). | +| typed messages | `interfaces/rig_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install -e typed`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the opt-in `typed` environment depends on the package by path and carries the ament/rosidl toolchain). The **default environment stays String-only** so a rig PC without a compiler can always install and run the graph; the nodes choose typed topics only when the package imports AND serializes (`_common.probe_interfaces`). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ArenaFrame` also carries two DERIVED channels for live viewing — `turning_dps` (heading rate, deg/s) and `forward_mms` (forward velocity, mm/s; ball diameter `--ball-mm`, 9 mm default) — computed in the bridge node from consecutive frames the way `js/kinematics.js` does (two-point difference on the FicTrac camera clock, NaN on a run's first frame); the hub message to the Studio and the behavior_v1 columns are unchanged. `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). | | FicTrac as a typed topic | `fictrac_udp_adapter.py --typed`, `bridge_node.py --typed` | the adapter publishes `/fictrac/frame` (parsed columns + FT tag + receive stamps + the verbatim line) beside `/fictrac/raw`; the bridge subscribes to the typed topic when the package imports (`auto`). The mapping math still parses the verbatim line, so it stays byte-for-byte bridge 3.4's. | | harness | `tests/test_ros2_poc.py` | the 32 PoC checks now judged against the **converted** log, plus bag presence per topic, fidelity vs the shadow, levels, ordering, typed schemas, and a crash phase (bridge node SIGKILLed mid-run, both profiles): **46 / 46 in 46 s** on the Mac. | | Pages path | `scripts/tiers/stamp.py --ros REF`, `deploy-pages.yml` input `ros`, `pixi run ros-preview`, `js/build-channel.js` channel `ros` | a third, optional path `/ros/` beside Production and Next: this branch's tree, stamped `channel: "ros"`, magenta badge/banner "ROS STUDIO", tier-suffixed window names, `run_metadata.channel = "ros"`. Off by default; a problem there never blocks the other tiers; the production tree check skips it. Production and Next are untouched (tiers test 109 / 109). **Enabling it on the live site needs this tooling commit on `main`** (the deploy workflow runs from `main`): a tooling-only PR, then `gh workflow run deploy-pages.yml -f ros=`. Until then: `pixi run ros-preview` + `python -m http.server -d _site`. | @@ -200,8 +200,8 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa |---|---| | `pixi install` with `ros-jazzy-rosbag2-py` + `ros-jazzy-rosbag2-storage-mcap` + `mcap` + the ament/rosidl toolchain (`cmake`, `ninja`, `cxx-compiler`, `colcon`) | 10 s wall with a warm package cache (the sibling PoC env had most packages); env **1.0 GB → 1.7 GB**; lock +1442 lines. Later split into two environments: `default` (recording + converter, String topics) and `typed` (+ toolchain + the interfaces package); re-solving both took 3.5 s + 5 s with everything cached | | typed messages, route 1: **pixi-build-ros** (scratch workspace, first attempt) | **37 s** wall for `pixi install` incl. an 18 s build of the package (`arena_interfaces-0.1.0-h60d57d3_0.conda`, 1.1 MiB, 149 files incl. Rust bindings); imported and serialized on the first try. One deprecation warning (`[package.build] channels` → `backend.channels`, fixed). | -| typed messages, route 1 integrated in `ros2-poc/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows (ww18, 2026-10-15): needs the MSVC v143 toolset (pixi cannot install it) and a short build path; then 35 s and the harness 48 / 48 after a package-level workaround for a pixi-build-ros packaging bug. A CI-built channel removes the compiler entirely (9 s, 48 / 48): `docs/typed-windows.md`. | -| typed messages, route 2: **colcon** in the env (`pixi run build-interfaces -- --clean`) | build 23 s (first) / 12 s (second clean build), all 8 typesupport libraries. **First attempt failed at import**: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'arena_interfaces'` — RoboStack's toolchain sets the extension's install rpath to the env's `lib` only, and macOS SIP strips `DYLD_LIBRARY_PATH` on the way through pixi's shell. Fixed with `-DCMAKE_INSTALL_RPATH=/lib;/lib`: imports and serializes. | +| typed messages, route 1 integrated in `rig/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows (ww18, 2026-10-15): needs the MSVC v143 toolset (pixi cannot install it) and a short build path; then 35 s and the harness 48 / 48 after a package-level workaround for a pixi-build-ros packaging bug. A CI-built channel removes the compiler entirely (9 s, 48 / 48): `docs/typed-windows.md`. | +| typed messages, route 2: **colcon** in the env (`pixi run build-interfaces -- --clean`) | build 23 s (first) / 12 s (second clean build), all 8 typesupport libraries. **First attempt failed at import**: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'rig_interfaces'` — RoboStack's toolchain sets the extension's install rpath to the env's `lib` only, and macOS SIP strips `DYLD_LIBRARY_PATH` on the way through pixi's shell. Fixed with `-DCMAKE_INSTALL_RPATH=/lib;/lib`: imports and serializes. | | bag open (per run start, blocks the asyncio loop) | **158 ms** with rosbag2's defaults (100 MiB message cache) vs **8 ms** crashsafe; records arriving meanwhile are buffered, so nothing is lost either way | | recording overhead on the closed loop (adapter → bridge, `connector_status`) | FicTrac p50 0.87 / p99 1.65 ms, Kinefly p50 0.82 / p99 1.51 ms — the same as the PoC without recording (0.89 / 1.43) | | recorder receive time vs the closed-loop node's own sample time (`/arena/frame` `log_time − publish_time`) | p50 0.53 ms, p99 1.07 ms, max 1.2 ms (the sample time is a whole ms). The record carries both, so `idx` reconstruction uses the node's clock, never the recorder's. | @@ -226,9 +226,9 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa 4. The `mcap` Python reader's `iter_messages()` defaults to log-time order, which reads the whole file before yielding — a torn file yielded nothing. File order (`log_time_order=False`) in both modes. 5. The colcon-built extension's rpath (above). 6. An **importable** interfaces package is not a **usable** one: with the colcon install visible - from the String-only default environment, `import arena_interfaces` succeeded but its + from the String-only default environment, `import rig_interfaces` succeeded but its typesupport library would not load (`RMWError: … Could not load library - libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib`), so the bridge node chose typed + librig_interfaces__rosidl_typesupport_fastrtps_c.dylib`), so the bridge node chose typed topics and died at its first frame. Every node now probes with one `serialize_message()` before choosing typed topics. 7. The Studio asks the bridge for `log_export` only on its course-commit path (a token stored on diff --git a/ros2-poc/SCANIMAGE-DAY.md b/rig/SCANIMAGE-DAY.md similarity index 95% rename from ros2-poc/SCANIMAGE-DAY.md rename to rig/SCANIMAGE-DAY.md index ca9159fc..09cf5bf0 100644 --- a/ros2-poc/SCANIMAGE-DAY.md +++ b/rig/SCANIMAGE-DAY.md @@ -24,7 +24,7 @@ the optional parts removed and the install overlapped with the hardware setup. | When | Who | What | Pass | |---|---|---|---| -| 0:00 | Claude on the PC | `git switch` + `pixi install --locked` in `ros2-poc` (cold install can take minutes: start it FIRST). Skip `pixi run test` unless the install finished early | env installs | +| 0:00 | Claude on the PC | `git switch` + `pixi install --locked` in `rig` (cold install can take minutes: start it FIRST). Skip `pixi run test` unless the install finished early | env installs | | 0:00 | Michael | Arena on the microscope; Studio from the checkout (`python .claude/nocache-server.py 8092`), Connect | Inventory: 20 present | | 0:10 | Michael | Controller ▾: mode 2, Digital IO 1 = framescan, refresh reads 300. Upload `protocols/g6_2p_color_led_sweep_patterns/` (4 files), note the slots | slots noted; IDs in the YAML fixed if not 5–8 | | 0:15 | Michael | MATLAB (R2025b, ScanImage idle): `hJ = most.network.json.Server(5555);` logging on, `logFilePath` on F:, unidirectional, channels 1+2 | — | @@ -44,7 +44,7 @@ switch to §6 (fallback script) at once and keep the schedule. | What | Where | |---|---| | **ScanImage remote control = the built-in JSON server** (`most.network.json.Server`): TCP 5555, `_sweep` → grab → 1 s → six conditions (duty 7/15/31/63/127/255, 3 s each, 20 fps) → allOff → waitIdle → post_blank. ≈ 2.5 min. Everything tunable in `variables:` | `protocols/g6_2p_color_led_sweep.yaml` (+ `protocols/index.json`); header = controller settings, ScanImage setup, new-arena check | | **Patterns (GS16)**: the four one-color top-row gratings re-encoded as Gray_16 (lit = 15), names `G6_2x10_toprow_grat20__gs16`, **to be uploaded onto the card** (Console → Patterns → Add ▾ → folder); expected slots 5–8 after the GS2 set in 1–4 — verify in the SD listing (the Studio resolves by NAME; IDs are the fallback) | `protocols/g6_2p_color_led_sweep_patterns/` (`node scripts/make-color-optomotor-patterns.js --gs16`) | @@ -75,7 +75,7 @@ switch to §6 (fallback script) at once and keep the schedule. # a terminal the operator owns (git via GitHub Desktop if `git` is not on PATH) git clone https://github.com/reiserlab/webDisplayTools.git # or fetch an existing clone cd webDisplayTools && git switch claude/ros-studio-plan-b-c44942 && git pull -cd ros2-poc && pixi install --locked # default env (String topics); 25 s warm, minutes cold, ~1.5 GB +cd rig && pixi install --locked # default env (String topics); 25 s warm, minutes cold, ~1.5 GB pixi run test # harness: expect 52 / 52 (≈ 60 s; ports 7447/8765/60000 must be free) ``` Then ScanImage (R2025b MATLAB), idle: @@ -169,7 +169,7 @@ layout and DO1 alignment, so the analysis does not change. power plan (the scanimage repo's rules apply). Clear the JSON server (`clear hJ`) at the end. - Dark until Michael says the prep is ready (steps 1–4). Confirm before anything that starts FOCUS, GRAB or LOOP while someone is at the microscope. -- Keep a results log from the first command (`ros2-poc/scanimage-day-2026-10-16.md`): one row per +- Keep a results log from the first command (`rig/scanimage-day-2026-10-16.md`): one row per step, timings, every error verbatim. Add our block to the scanimage repo's session index (`procedures/rig-session-2026-10-16.md`, block letter S, this file as the plan) — that repo commits straight to `main`. @@ -178,7 +178,7 @@ layout and DO1 alignment, so the analysis does not change. ``` ScanImage day on the Bergamo rig (LAB-303 / LAB-306). Fetch reiserlab/webDisplayTools, switch to -claude/ros-studio-plan-b-c44942 (git pull) and read ros2-poc/SCANIMAGE-DAY.md end to end: the +claude/ros-studio-plan-b-c44942 (git pull) and read rig/SCANIMAGE-DAY.md end to end: the off-rig half is built and tested; today is steps 1–5 in order, dark through step 4, lasers on only when Michael says so. Also read procedures/rig-session-2026-10-16.md in reiserlab/scanimage-2026-bergamo (Hannah's Block Z runs today on this rig, dark, before us; its diff --git a/ros2-poc/WINDOWS-TEST.md b/rig/WINDOWS-TEST.md similarity index 95% rename from ros2-poc/WINDOWS-TEST.md rename to rig/WINDOWS-TEST.md index dfddf4b7..02bdcf9d 100644 --- a/ros2-poc/WINDOWS-TEST.md +++ b/rig/WINDOWS-TEST.md @@ -9,7 +9,7 @@ and the run log every reader accepts is derived from the bag.** Budget: about 90 **A failure with its verbatim error text is as valuable as a pass**: copy the text before trying anything to fix it. -Nothing here touches bridge 3.4 or Production. `ros2-poc/` is its own pixi workspace. +Nothing here touches bridge 3.4 or Production. `rig/` is its own pixi workspace. ## Kickoff prompt for the Windows session (paste into Claude Code on the rig PC) @@ -20,8 +20,8 @@ message. Everything it needs is in this file. ``` Windows rig test of the LAB-303 ROS 2 Plan B spike (draft PR #254, branch claude/ros-studio-plan-b-c44942). Fetch and switch to that branch, then follow -ros2-poc/WINDOWS-TEST.md step by step, in order, and keep a results log as you go -(ros2-poc/windows-results--.md: one row per step, pass/fail, timings, +rig/WINDOWS-TEST.md step by step, in order, and keep a results log as you go +(rig/windows-results--.md: one row per step, pass/fail, timings, sizes, and every error verbatim). Rules: stop bridge 3.4 first; capture an error's full text before trying to fix it; small fixes may be committed to the branch with a message that names the step; never touch Production or Next; ask me (Michael) before anything that @@ -49,10 +49,10 @@ pass/fail, timings, sizes and every error verbatim. long each install took. 2. Clone reiserlab/webDisplayTools under Documents\GitHub (gh auth login, or HTTPS), then `git switch claude/ros-studio-plan-b-c44942`. -3. Follow ros2-poc/WINDOWS-TEST.md in order. Steps 1–3 need no hardware and can run +3. Follow rig/WINDOWS-TEST.md in order. Steps 1–3 need no hardware and can run unattended; stop and ask me to be at the keyboard before step 4 (BIAS) and step 5 (Studio + controller over Web Serial). Stop bridge 3.4 first if it is running. -4. Results: ros2-poc/windows-results-ww18-.md committed to the branch and pushed; add a +4. Results: rig/windows-results-ww18-.md committed to the branch and pushed; add a "Windows results" row to the test-plan table in PR #254's description. Small fixes may go on the branch (message names the step); never touch Production or Next. ``` @@ -73,8 +73,8 @@ build with and without it. **Windows notes from the first run (ww18, 2026-10-15 — `windows-results-ww18-2026-10-15.md`):** - **Short build path for the typed build**: under `C:\Users\\Documents\GitHub\…` it hits Windows' - 260-character path limit (`C1083`). Either clone to under ~45 characters before `\ros2-poc`, or, from any - checkout, run `pixi config set --local detached-environments C:\px` in `ros2-poc` once (≤ 12 characters; + 260-character path limit (`C1083`). Either clone to under ~45 characters before `\rig`, or, from any + checkout, run `pixi config set --local detached-environments C:\px` in `rig` once (≤ 12 characters; it moves envs and build dirs there). See `docs/typed-windows.md` §3. - **MSVC**: VS Build Tools **2026** alone is not found by conda-forge's VS 2022 activation; add the component group "MSVC v143 - VS 2022 C++ x64/x86 build tools (v14.44)" @@ -112,7 +112,7 @@ build with and without it. **1a. The default environment** (String topics; this must always work): ```powershell -cd ros2-poc +cd rig Measure-Command { pixi install --locked | Out-Default } ``` @@ -124,7 +124,7 @@ and whether anything had to be done by hand. Then the Windows-only check: does p pixi run python -c "import os; print(os.environ['ZENOH_ROUTER_CONFIG_URI'])" ``` -Expected: a real path ending in `ros2-poc\config\zenoh-router.json5`. If it prints the literal +Expected: a real path ending in `rig\config\zenoh-router.json5`. If it prints the literal `$PIXI_PROJECT_ROOT/...`, the individual `router` / `*-adapter` tasks will use the stock IPv6 config (or fail); `pixi run rig` is unaffected because `rig.py` sets both paths itself. **Write down which of the two you saw.** @@ -182,17 +182,17 @@ curl.exe "http://127.0.0.1:5010/?get-status" Expected: `[ { "command" : "get-status", "success" : true, "value" : { "capturing" : …, "connected" : …, "frameCount" : …, "framesPerSec" : …, "logging" : …, "timeStamp" : … } } ]` (the Mac port's shape; note any extra or missing key). Decide the **video directory** now, an -absolute path the rig uses for videos, e.g. `C:\Users\\Videos\ros2-poc`; create it. Then, +absolute path the rig uses for videos, e.g. `C:\Users\\Videos\rig`; create it. Then, with a router running (`pixi run router`), in two terminals: ```powershell -pixi run bias-node -- --host 127.0.0.1 --port 5010 --video-dir C:\Users\\Videos\ros2-poc +pixi run bias-node -- --host 127.0.0.1 --port 5010 --video-dir C:\Users\\Videos\rig pixi run bias-cmd -- connect --json pixi run bias-cmd -- startRecording --filename poc.avi --json # relative → resolved against --video-dir curl.exe "http://127.0.0.1:5010/?get-status" # capturing true, frameCount rising pixi run bias-cmd -- getTimestamp --json pixi run bias-cmd -- stopRecording --json -dir C:\Users\\Videos\ros2-poc +dir C:\Users\\Videos\rig ``` Record every reply (`--json` prints it), the `value` of `get-video-file` versus the file(s) @@ -210,7 +210,7 @@ flip back to `reachable:true` without restarting the node. Terminal A — the graph (model fly unless the rig has FicTrac, see below), BIAS node included: ```powershell -pixi run rig -- --sim --sim-args "--proto udp --model fly --kp 2 --seed 1 --rate 50" --bias --bias-args "--video-dir C:\Users\\Videos\ros2-poc" +pixi run rig -- --sim --sim-args "--proto udp --model fly --kp 2 --seed 1 --rate 50" --bias --bias-args "--video-dir C:\Users\\Videos\rig" ``` Expected: `[rig] up: router, fictrac, bias, bridge, sim — Studio → ws://localhost:8765`, and in the @@ -245,7 +245,7 @@ with the rig key from `configs\rigs\index.json` that matches this arena (`cshl_g (normal for a fresh localhost origin), export it yourself — the same message the Studio sends: ```powershell -pixi run export # → ros2-poc\runlogs\exports\arena-log-….jsonl (converted from the bag) +pixi run export # → rig\runlogs\exports\arena-log-….jsonl (converted from the bag) ``` Terminal A shows `[record] closed … records`, `[convert] … → N lines in M ms; identical to the @@ -347,14 +347,14 @@ result from step 2. Repeat step 3 and step 5 with `-e typed` (`pixi run -e typed test -- --keep`, `pixi run -e typed rig …`). Expected differences: `typed=True` in the bridge banner, `/fictrac/frame` + `/arena/frame` as -`arena_interfaces/msg/…` in `ros2 bag info`, the harness line `info typed topics: True`. +`rig_interfaces/msg/…` in `ros2 bag info`, the harness line `info typed topics: True`. ## 7b. Typed messages on a PC WITHOUT Visual Studio (`typed-prebuilt`, ~10 minutes) The no-compiler route (`docs/typed-windows.md` §5): the `typed-prebuilt` environment downloads an -`arena_interfaces` built once on ww18 (`channel/`, read from raw.githubusercontent.com) instead of +`rig_interfaces` built once on ww18 (`channel/`, read from raw.githubusercontent.com) instead of building it. Run it on a PC with **no** Visual Studio / Build Tools; that is the point. Any checkout -path works (nothing is compiled). PowerShell, in `ros2-poc`: +path works (nothing is compiled). PowerShell, in `rig`: ```powershell git fetch; git switch claude/ros-studio-plan-b-c44942; git pull diff --git a/ros2-poc/channel/README.md b/rig/channel/README.md similarity index 92% rename from ros2-poc/channel/README.md rename to rig/channel/README.md index 990eaf0a..ee722754 100644 --- a/ros2-poc/channel/README.md +++ b/rig/channel/README.md @@ -1,5 +1,7 @@ # ros2-poc/channel — a prebuilt arena_interfaces (LAB-303 Plan B test, win-64 only) +*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* + > **2026-10-18:** the package payload (`win-64/*.conda`, repodata) was removed from the tree — > a binary in git history is enough for the pinned URL the `typed-prebuilt` environment reads > (commit `30512581`, see `../pixi.toml`), and the CI-built channel replaces it. This README stays diff --git a/ros2-poc/config/zenoh-router.json5 b/rig/config/zenoh-router.json5 similarity index 100% rename from ros2-poc/config/zenoh-router.json5 rename to rig/config/zenoh-router.json5 diff --git a/ros2-poc/config/zenoh-session.json5 b/rig/config/zenoh-session.json5 similarity index 100% rename from ros2-poc/config/zenoh-session.json5 rename to rig/config/zenoh-session.json5 diff --git a/ros2-poc/docs/build-standalone-explainer.py b/rig/docs/build-standalone-explainer.py similarity index 96% rename from ros2-poc/docs/build-standalone-explainer.py rename to rig/docs/build-standalone-explainer.py index 4840d923..ca80f8db 100644 --- a/ros2-poc/docs/build-standalone-explainer.py +++ b/rig/docs/build-standalone-explainer.py @@ -3,7 +3,7 @@ images inlined as data URIs) from plan-b-explainer.html, which is authored as a page fragment for the claude.ai artifact and for this folder. Run after editing the explainer: - python3 ros2-poc/docs/build-standalone-explainer.py + python3 rig/docs/build-standalone-explainer.py """ import base64, mimetypes, re from pathlib import Path diff --git a/ros2-poc/docs/foxglove-arena-layout.json b/rig/docs/foxglove-arena-layout.json similarity index 100% rename from ros2-poc/docs/foxglove-arena-layout.json rename to rig/docs/foxglove-arena-layout.json diff --git a/ros2-poc/docs/img/foxglove_bench_bag.png b/rig/docs/img/foxglove_bench_bag.png similarity index 100% rename from ros2-poc/docs/img/foxglove_bench_bag.png rename to rig/docs/img/foxglove_bench_bag.png diff --git a/ros2-poc/docs/img/pattern_toprow_grat20_green_frame0.png b/rig/docs/img/pattern_toprow_grat20_green_frame0.png similarity index 100% rename from ros2-poc/docs/img/pattern_toprow_grat20_green_frame0.png rename to rig/docs/img/pattern_toprow_grat20_green_frame0.png diff --git a/ros2-poc/docs/img/rqt_graph_live.png b/rig/docs/img/rqt_graph_live.png similarity index 100% rename from ros2-poc/docs/img/rqt_graph_live.png rename to rig/docs/img/rqt_graph_live.png diff --git a/ros2-poc/docs/img/studio_bridge_connected.jpg b/rig/docs/img/studio_bridge_connected.jpg similarity index 100% rename from ros2-poc/docs/img/studio_bridge_connected.jpg rename to rig/docs/img/studio_bridge_connected.jpg diff --git a/ros2-poc/docs/plan-b-explainer.html b/rig/docs/plan-b-explainer.html similarity index 99% rename from ros2-poc/docs/plan-b-explainer.html rename to rig/docs/plan-b-explainer.html index 60e6f173..bd0deaf8 100644 --- a/ros2-poc/docs/plan-b-explainer.html +++ b/rig/docs/plan-b-explainer.html @@ -73,6 +73,7 @@
LAB-303 · Plan B spike · stage of 2026-10-14

ROS Studio proof of concept

The Arena Studio, unchanged on the wire, driving a fly-on-ball closed loop and a BIAS camera through a ROS 2 node graph, with every run recorded as an MCAP bag and the familiar run log derived from it.

+

Paths in this record predate the 2026-10-26 rename ros2-poc/ → rig/, arena_interfaces → rig_interfaces.

harness 46 / 46 Mac bench run: byte-identical log diff --git a/ros2-poc/docs/plan-b-explainer.standalone.html b/rig/docs/plan-b-explainer.standalone.html similarity index 99% rename from ros2-poc/docs/plan-b-explainer.standalone.html rename to rig/docs/plan-b-explainer.standalone.html index 774c782c..c31de144 100644 --- a/ros2-poc/docs/plan-b-explainer.standalone.html +++ b/rig/docs/plan-b-explainer.standalone.html @@ -79,6 +79,7 @@
LAB-303 · Plan B spike · stage of 2026-10-14

ROS Studio proof of concept

The Arena Studio, unchanged on the wire, driving a fly-on-ball closed loop and a BIAS camera through a ROS 2 node graph, with every run recorded as an MCAP bag and the familiar run log derived from it.

+

Paths in this record predate the 2026-10-26 rename ros2-poc/ → rig/, arena_interfaces → rig_interfaces.

harness 46 / 46 Mac bench run: byte-identical log diff --git a/ros2-poc/docs/shm-bench.md b/rig/docs/shm-bench.md similarity index 93% rename from ros2-poc/docs/shm-bench.md rename to rig/docs/shm-bench.md index f12904b9..3214d7bc 100644 --- a/ros2-poc/docs/shm-bench.md +++ b/rig/docs/shm-bench.md @@ -1,6 +1,6 @@ # Shared-memory and MCAP recording benchmarks (LAB-303) -Three scripts in `ros2-poc/` measure rmw_zenoh with shared memory off vs on for image-sized +Three scripts in `rig/` measure rmw_zenoh with shared memory off vs on for image-sized `sensor_msgs/Image` messages. None needs hardware. Each starts its own Zenoh router on `127.0.0.1:7457` with `ROS_DOMAIN_ID` 42, so it never joins a rig graph on 7447 — but it loads the CPU for a few minutes, so **never run it while an experiment is running on the PC** (Studio run, @@ -21,9 +21,9 @@ the system monotonic clock, so the copy is fine there too). Publish pacing still ## Running it on another Windows PC 1. Nothing rig-related running; port free: `netstat -ano | findstr ":7457"` prints nothing. -2. The default pixi environment is installed (`ros2-poc\.pixi\envs\default`); if not, see +2. The default pixi environment is installed (`rig\.pixi\envs\default`); if not, see `WINDOWS-TEST.md` step 1a (`pixi install --locked`). -3. PowerShell in `ros2-poc`, with `` = this PC's name (about 7 minutes in all): +3. PowerShell in `rig`, with `` = this PC's name (about 7 minutes in all): ```powershell pixi run python shm_bench_qpc.py run --out _shm_qpc.json diff --git a/ros2-poc/docs/typed-distribution-decision.md b/rig/docs/typed-distribution-decision.md similarity index 79% rename from ros2-poc/docs/typed-distribution-decision.md rename to rig/docs/typed-distribution-decision.md index bc64f2ee..510a32d4 100644 --- a/ros2-poc/docs/typed-distribution-decision.md +++ b/rig/docs/typed-distribution-decision.md @@ -1,6 +1,6 @@ # Typed interfaces on Windows rigs — distribution decision (LAB-303, 2026-10-16) -**Decision: build `arena_interfaces` in CI and ship it as a conda channel; rigs never compile it.** +**Decision: build `rig_interfaces` in CI and ship it as a conda channel; rigs never compile it.** The default environment stays String-only and unchanged. The per-PC MSVC build remains available for whoever edits a `.msg` (it is the same `pixi install -e typed` as today). @@ -17,7 +17,7 @@ Measurements: `typed-windows.md` (ww18, 2026-10-15/16). This page is the decisio | upstream exposure | the `..`-in-manifest bug needs our CMakeLists workaround until pixi#7226 / rattler-build#2875 ship; `version = "*"` on the backend floats, so two rigs can build with different backends | the workaround runs once, in CI; the lock pins the package by sha256 on every machine | | type-hash agreement (rmw_zenoh keys typed topics by the hash of the `.msg` text) | guaranteed only if every machine built the same source | guaranteed: one build per version, same bytes everywhere | | who can be surprised | every new rig PC, every VS update, every student who clones to a long path | the maintainer who forgets to rebuild after a `.msg` change (the version bump below is the guard) | -| cost to run | 0 infrastructure, N × 5 min of setup and a compiler per PC | one workflow (`.github/workflows/arena-interfaces.yml`), three runners × 2–4 min per `.msg` change, one channel to own | +| cost to run | 0 infrastructure, N × 5 min of setup and a compiler per PC | one workflow (`.github/workflows/rig-interfaces.yml`), three runners × 2–4 min per `.msg` change, one channel to own | The per-PC route works now (T2/T3) and is the right **developer** path. It is the wrong **rig** path: the whole point of the two-environment split was that a rig PC always installs; a route @@ -28,16 +28,16 @@ re-introduces exactly the install friction the decision procedure scored against Three options were measured or sketched (`typed-windows.md` §5). In order of preference: -1. **In-repo channel, read over raw.githubusercontent.com** (T6: committed `ros2-poc/channel/`, +1. **In-repo channel, read over raw.githubusercontent.com** (T6: committed `rig/channel/`, 5 s install on ww18). No account, no secret, no new host beyond GitHub, works today. Cost: the repo grows by ~300 KiB per release (three platforms), and the channel URL must name an immutable ref. **Use a tag, not a commit sha:** the commit that adds the packages also edits - `pixi.toml` to point at `arena-interfaces-vX.Y.Z`, and the tag is placed on that commit — one + `pixi.toml` to point at `rig-interfaces-vX.Y.Z`, and the tag is placed on that commit — one commit, consistent, and the lock still pins each package's sha256. 2. **prefix.dev lab channel** with trusted publishing. No repo growth, OIDC instead of a token, but someone has to own the channel and rigs gain `prefix.dev` in their allowlist (the source build already needs it for the backend). The workflow's last step uploads there as soon as the - repository variable `ARENA_INTERFACES_CHANNEL` and the secret `PREFIX_API_KEY` exist; nothing + repository variable `RIG_INTERFACES_CHANNEL` and the secret `PREFIX_API_KEY` exist; nothing else changes. 3. anaconda.org org channel: one host for everything, but an API-token secret to rotate. Not chosen. @@ -46,22 +46,22 @@ Start with 1; move to 2 when the lab decides to own a channel. The workflow serv ## What is implemented (this commit) -`.github/workflows/arena-interfaces.yml`: +`.github/workflows/rig-interfaces.yml`: - `build (win-64 | osx-arm64 | linux-64)` — `windows-2022` (VS 2022 → v143 found by conda-forge's activation, no W2-1), `macos-14`, `ubuntu-24.04`; pixi `v0.80.0` (the ww18 pair; the backend is not in the lock, so the version is pinned on purpose); on Windows `pixi config set --local detached-environments C:\px` first (W2-2); then - `pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist`, the archive - checked for its two inner tarballs, uploaded as `arena_interfaces-`. + `pixi build --path interfaces/rig_interfaces/pixi.toml --output-dir ../dist`, the archive + checked for its two inner tarballs, uploaded as `rig_interfaces-`. - `channel` — downloads the three, lays them out as `channel//`, runs `rattler-index fs channel` (the same indexer `pixi publish` used for the ww18 channel), prints - each package's sha256 and `ros2-distro-mutex` pin, uploads **`arena-interfaces-channel`** - (90 days). On an `arena-interfaces-v*` tag with the prefix.dev variable set it also uploads to + each package's sha256 and `ros2-distro-mutex` pin, uploads **`rig-interfaces-channel`** + (90 days). On a `rig-interfaces-v*` tag with the prefix.dev variable set it also uploads to the hosted channel. -- Triggers: `pull_request` on `ros2-poc/interfaces/**` or the workflow file (build-only; the first +- Triggers: `pull_request` on `rig/interfaces/**` or the workflow file (build-only; the first run is the push of this commit on PR #254 — the Windows job is the one to watch), tags - `arena-interfaces-v*`, `workflow_dispatch`. + `rig-interfaces-v*`, `workflow_dispatch`. All three platforms are built because the workspace locks them together: a channel with only win-64 cannot be re-locked (T5's first attempt). Nothing in `pixi.toml` changed: the default @@ -75,24 +75,24 @@ Mac before this commit (`pixi build` 17 s → `arena_interfaces-0.1.0-h60d57d3_0 After any `.msg` change, or when re-locking onto a newer RoboStack (the package pins `ros2-distro-mutex`): -1. Bump the version in `interfaces/arena_interfaces/package.xml` **and** - `interfaces/arena_interfaces/pixi.toml` (same number). +1. Bump the version in `interfaces/rig_interfaces/package.xml` **and** + `interfaces/rig_interfaces/pixi.toml` (same number). 2. Push; the PR run builds the three packages. Download the channel: - `gh run download -n arena-interfaces-channel -D ros2-poc/channel` (replace the - directory; `git rm -r ros2-poc/channel` first). -3. Point the prebuilt environment at the new tag and version (`ros2-poc/pixi.toml`): + `gh run download -n rig-interfaces-channel -D rig/channel` (replace the + directory; `git rm -r rig/channel` first). +3. Point the prebuilt environment at the new tag and version (`rig/pixi.toml`): ```toml [feature.typed-prebuilt] platforms = ["win-64", "osx-arm64", "linux-64"] # all three are in the channel now - channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/arena-interfaces-v0.2.0/ros2-poc/channel"] + channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/rig-interfaces-v0.2.0/rig/channel"] [feature.typed-prebuilt.dependencies] - arena_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/arena-interfaces-v0.2.0/ros2-poc/channel" } + rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/rig-interfaces-v0.2.0/rig/channel" } ``` `pixi lock` (or `pixi install -e typed-prebuilt`), commit packages + manifest + lock in ONE - commit, then `git tag arena-interfaces-v0.2.0 && git push --tags` on that commit. The tag push + commit, then `git tag rig-interfaces-v0.2.0 && git push --tags` on that commit. The tag push runs the workflow once more (and uploads to prefix.dev when configured). 4. Rigs: `git pull && pixi install --locked -e typed-prebuilt`. diff --git a/ros2-poc/docs/typed-windows.md b/rig/docs/typed-windows.md similarity index 99% rename from ros2-poc/docs/typed-windows.md rename to rig/docs/typed-windows.md index 630b9cf5..5b8e5d51 100644 --- a/ros2-poc/docs/typed-windows.md +++ b/rig/docs/typed-windows.md @@ -1,5 +1,7 @@ # Typed messages on Windows — W2 follow-up (ww18, 2026-10-15) +*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* + LAB-303 Plan B. Follow-up to finding **W2** in `../windows-results-ww18-2026-10-15.md`: the `typed` environment compiled and linked on ww18, then failed while packaging with ``paths in archives must not have `..` when setting path for Library``. diff --git a/ros2-poc/foxglove/arena-bias.json b/rig/foxglove/arena-bias.json similarity index 100% rename from ros2-poc/foxglove/arena-bias.json rename to rig/foxglove/arena-bias.json diff --git a/ros2-poc/foxglove/arena-fictrac.json b/rig/foxglove/arena-fictrac.json similarity index 100% rename from ros2-poc/foxglove/arena-fictrac.json rename to rig/foxglove/arena-fictrac.json diff --git a/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt b/rig/interfaces/rig_interfaces/CMakeLists.txt similarity index 97% rename from ros2-poc/interfaces/arena_interfaces/CMakeLists.txt rename to rig/interfaces/rig_interfaces/CMakeLists.txt index 507a9f02..3ea7d7de 100644 --- a/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt +++ b/rig/interfaces/rig_interfaces/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(arena_interfaces) +project(rig_interfaces) # Windows + pixi-build-ros (<= 0.7.6, 2026-10-14): the backend passes PYTHON_INSTALL_DIR as # ../Lib/site-packages (relative to %LIBRARY_PREFIX%), CMake records that spelling in diff --git a/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg b/rig/interfaces/rig_interfaces/msg/ArenaFrame.msg similarity index 100% rename from ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg rename to rig/interfaces/rig_interfaces/msg/ArenaFrame.msg diff --git a/ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg b/rig/interfaces/rig_interfaces/msg/ConnectorReply.msg similarity index 100% rename from ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg rename to rig/interfaces/rig_interfaces/msg/ConnectorReply.msg diff --git a/ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg b/rig/interfaces/rig_interfaces/msg/FicTracFrame.msg similarity index 100% rename from ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg rename to rig/interfaces/rig_interfaces/msg/FicTracFrame.msg diff --git a/ros2-poc/interfaces/arena_interfaces/package.xml b/rig/interfaces/rig_interfaces/package.xml similarity index 92% rename from ros2-poc/interfaces/arena_interfaces/package.xml rename to rig/interfaces/rig_interfaces/package.xml index 84d4be17..d2dd632e 100644 --- a/ros2-poc/interfaces/arena_interfaces/package.xml +++ b/rig/interfaces/rig_interfaces/package.xml @@ -1,8 +1,8 @@ - arena_interfaces - 0.1.0 + rig_interfaces + 0.2.0 Typed messages for the Reiser Lab arena bridge graph (LAB-303 Plan B spike): FicTracFrame, ArenaFrame, ConnectorReply. Michael Reiser MIT diff --git a/ros2-poc/interfaces/arena_interfaces/pixi.toml b/rig/interfaces/rig_interfaces/pixi.toml similarity index 75% rename from ros2-poc/interfaces/arena_interfaces/pixi.toml rename to rig/interfaces/rig_interfaces/pixi.toml index c22801fd..8699997a 100644 --- a/ros2-poc/interfaces/arena_interfaces/pixi.toml +++ b/rig/interfaces/rig_interfaces/pixi.toml @@ -1,11 +1,11 @@ -# arena_interfaces as a pixi source package (LAB-303 Plan B item 3). The ros2-poc workspace -# depends on it by path (`arena_interfaces = { path = "interfaces/arena_interfaces" }`), so +# rig_interfaces as a pixi source package (LAB-303 Plan B item 3). The rig workspace +# depends on it by path (`rig_interfaces = { path = "interfaces/rig_interfaces" }`), so # `pixi install` builds it with the RoboStack pixi-build-ros backend — a conda package made from # this package.xml/CMakeLists.txt, with no colcon step and nothing to source. Preview feature: # `preview = ["pixi-build"]` in the workspace manifest. Measured on the Mac: README "Plan B spike". [package] -name = "arena_interfaces" -version = "0.1.0" +name = "rig_interfaces" +version = "0.2.0" [package.build] backend = { name = "pixi-build-ros", version = "*", channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge", "https://prefix.dev/robostack-jazzy"] } diff --git a/ros2-poc/mcap_bench.py b/rig/mcap_bench.py similarity index 100% rename from ros2-poc/mcap_bench.py rename to rig/mcap_bench.py diff --git a/ros2-poc/nodes/_common.py b/rig/nodes/_common.py similarity index 96% rename from ros2-poc/nodes/_common.py rename to rig/nodes/_common.py index 5e5fc2ef..f5d42efc 100644 --- a/ros2-poc/nodes/_common.py +++ b/rig/nodes/_common.py @@ -173,7 +173,7 @@ def _prepend_env(name: str, value: str) -> None: def setup_interfaces(prefix: str | None = None) -> bool: """Make a colcon-built `interfaces/install` visible to THIS process and its children — the equivalent of sourcing install/setup.sh, done in Python so Windows needs no shell - script. Returns True when the prefix exists. Call it BEFORE importing arena_interfaces.""" + script. Returns True when the prefix exists. Call it BEFORE importing rig_interfaces.""" import sys as _sys prefix = prefix or INTERFACES_INSTALL @@ -207,10 +207,10 @@ def setup_interfaces(prefix: str | None = None) -> bool: def probe_interfaces(): - """(ArenaFrame, FicTracFrame) when arena_interfaces imports AND its typesupport actually + """(ArenaFrame, FicTracFrame) when rig_interfaces imports AND its typesupport actually loads — else None. An import alone is not enough: a package that is importable but whose typesupport library cannot be dlopen'ed (seen with a colcon install visible from the - default env: `RMWError: … Could not load library libarena_interfaces__rosidl_typesupport_ + default env: `RMWError: … Could not load library librig_interfaces__rosidl_typesupport_ fastrtps_c.dylib`) would otherwise make a node pick typed topics and die at its first message. One serialize_message() is the test. @@ -230,7 +230,7 @@ def probe_interfaces(): def _try_interfaces(): try: - from arena_interfaces.msg import ArenaFrame, FicTracFrame + from rig_interfaces.msg import ArenaFrame, FicTracFrame from rclpy.serialization import serialize_message serialize_message(ArenaFrame()) @@ -241,5 +241,5 @@ def _try_interfaces(): def interfaces_available() -> bool: - """True when arena_interfaces imports and serializes (after setup_interfaces).""" + """True when rig_interfaces imports and serializes (after setup_interfaces).""" return probe_interfaces() is not None diff --git a/ros2-poc/nodes/_rows.py b/rig/nodes/_rows.py similarity index 100% rename from ros2-poc/nodes/_rows.py rename to rig/nodes/_rows.py diff --git a/ros2-poc/nodes/bias_cmd.py b/rig/nodes/bias_cmd.py similarity index 100% rename from ros2-poc/nodes/bias_cmd.py rename to rig/nodes/bias_cmd.py diff --git a/ros2-poc/nodes/bias_node.py b/rig/nodes/bias_node.py similarity index 100% rename from ros2-poc/nodes/bias_node.py rename to rig/nodes/bias_node.py diff --git a/ros2-poc/nodes/bias_sim.py b/rig/nodes/bias_sim.py similarity index 100% rename from ros2-poc/nodes/bias_sim.py rename to rig/nodes/bias_sim.py diff --git a/ros2-poc/nodes/bridge_node.py b/rig/nodes/bridge_node.py similarity index 98% rename from ros2-poc/nodes/bridge_node.py rename to rig/nodes/bridge_node.py index a48b4800..b99bee20 100644 --- a/ros2-poc/nodes/bridge_node.py +++ b/rig/nodes/bridge_node.py @@ -55,9 +55,9 @@ salvaged run. A bag with nothing salvageable falls back to the run's shadow NDJSON. * ONE ms base per run: the pipeline's t0 is set from the log's open stamp (bridge 3.4 takes two now_ms() samples there — comparison.md appendix 4). - * Typed messages when `arena_interfaces` is built (`pixi install` builds it; see + * Typed messages when `rig_interfaces` is built (`pixi install` builds it; see interfaces/): `/fictrac/frame` is consumed and `/arena/frame` published/recorded as - arena_interfaces/ArenaFrame (`--typed auto|on|off`); otherwise std_msgs/String JSON. + rig_interfaces/ArenaFrame (`--typed auto|on|off`); otherwise std_msgs/String JSON. pixi run bridge-node # ws://127.0.0.1:8765, logs + bags on demand in runlogs/ pixi run bridge-node -- --frames 60 --log-dir /path --bag-profile crashsafe @@ -118,14 +118,14 @@ def load_bridge_module(path: Path = BRIDGE_PY): # it in THIS process to the precise wall clock; bridge.py itself (bridge 3.4) is unchanged. B.now_ms = wall_ms -NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc plan-b (rmw_zenoh, mcap record, connectors)" +NODE_VERSION = f"{B.BRIDGE_VERSION} · rig plan-b (rmw_zenoh, mcap record, connectors)" FICTRAC_TOPIC = "/fictrac/raw" -FICTRAC_FRAME_TOPIC = "/fictrac/frame" # typed arena_interfaces/FicTracFrame +FICTRAC_FRAME_TOPIC = "/fictrac/frame" # typed rig_interfaces/FicTracFrame BROWSER_TOPIC = "/arena/browser" EVENT_TOPIC = "/arena/event" SESSION_TOPIC = "/arena/session" -ARENA_FRAME_TYPE = "arena_interfaces/msg/ArenaFrame" -FICTRAC_FRAME_TYPE = "arena_interfaces/msg/FicTracFrame" +ARENA_FRAME_TYPE = "rig_interfaces/msg/ArenaFrame" +FICTRAC_FRAME_TYPE = "rig_interfaces/msg/FicTracFrame" KINEFLY_TOPIC = "/kinefly/raw" BIAS_CMD_TOPIC = "/bias/cmd" BIAS_REPLY_TOPIC = "/bias/reply" @@ -537,7 +537,7 @@ def step(self, msg: dict) -> tuple[float, float]: def arena_frame_msg(msg: dict, seq: int, derived: tuple[float, float] = NO_DERIVED): - """The hub frame → arena_interfaces/ArenaFrame. ONE builder for the published message and + """The hub frame → rig_interfaces/ArenaFrame. ONE builder for the published message and the recorded one, so the bag and the live topic can never disagree on a field.""" return ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]), has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else NAN, @@ -667,7 +667,7 @@ async def run(args: argparse.Namespace) -> None: loop = asyncio.get_running_loop() typed = HAVE_IFACES if args.typed == "auto" else (args.typed == "on") if typed and not HAVE_IFACES: - raise SystemExit("--typed on, but arena_interfaces is not importable (pixi install builds it; or pixi run build-interfaces)") + raise SystemExit("--typed on, but rig_interfaces is not importable (pixi install builds it; or pixi run build-interfaces)") CONNECTORS = {c: t["cmd"] for c, t in CONNECTOR_TOPICS.items()} log = RecordingLogWriter(args.log, args.log_level, args.log_dir, profile=args.bag_profile, typed=typed, export=args.export, connectors=list(CONNECTORS), @@ -956,12 +956,12 @@ def main(argv: list[str] | None = None) -> int: p.add_argument("--fictrac-port", type=int, default=60000, help="reported FicTrac port (the adapter owns the socket; informational)") p.add_argument("--source-timeout", type=float, default=2.0, help="seconds of silence from a logged source before a source_lost event (default: 2)") p.add_argument("--log", default=None, help="fixed log path (else on demand per log_control)") - p.add_argument("--log-dir", default=str(HERE.parent / "runlogs"), help="directory for on-demand arena-log-*.jsonl (default: ros2-poc/runlogs)") + p.add_argument("--log-dir", default=str(HERE.parent / "runlogs"), help="directory for on-demand arena-log-*.jsonl (default: rig/runlogs)") p.add_argument("--log-level", choices=B.LOG_LEVELS, default=B.DEFAULT_LOG_LEVEL) p.add_argument("--ball-mm", type=float, default=DEFAULT_BALL_MM, help=f"ball diameter in mm for the typed frame's forward_mms (default: {DEFAULT_BALL_MM:g}, as the Studio scope assumes)") p.add_argument("--typed", choices=("auto", "on", "off"), default="auto", - help="consume /fictrac/frame + publish /arena/frame as arena_interfaces types (auto: when the package imports; default)") + help="consume /fictrac/frame + publish /arena/frame as rig_interfaces types (auto: when the package imports; default)") p.add_argument("--bag-profile", choices=sorted(PROFILES), default="crashsafe", help="MCAP writer profile: crashsafe (no chunking, no cache; default — rosbag2's defaults hold a whole short run in an unflushed 768 KiB chunk) or default (rosbag2 defaults)") p.add_argument("--max-bag-mb", type=float, default=0.0, diff --git a/ros2-poc/nodes/build_interfaces.py b/rig/nodes/build_interfaces.py similarity index 93% rename from ros2-poc/nodes/build_interfaces.py rename to rig/nodes/build_interfaces.py index 30dbd6ef..62c70145 100644 --- a/ros2-poc/nodes/build_interfaces.py +++ b/rig/nodes/build_interfaces.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -"""build_interfaces.py — build interfaces/arena_interfaces inside this pixi env, and time it. +"""build_interfaces.py — build interfaces/rig_interfaces inside this pixi env, and time it. pixi run build-interfaces # colcon build → interfaces/install, result JSON printed + saved pixi run build-interfaces -- --clean # wipe build/ + install/ first (a cold build; the number to report) @@ -31,7 +31,7 @@ HERE = Path(__file__).resolve().parent POC = HERE.parent IFACES = POC / "interfaces" -PKG = IFACES / "arena_interfaces" +PKG = IFACES / "rig_interfaces" BUILD = IFACES / "build" INSTALL = IFACES / "install" RESULT = IFACES / "build-result.json" @@ -44,7 +44,7 @@ def check() -> dict: out = {"install_prefix": str(INSTALL), "built": INSTALL.exists(), "usable": probe_interfaces() is not None} setup_interfaces() try: - from arena_interfaces.msg import ArenaFrame, ConnectorReply, FicTracFrame # noqa: F401 + from rig_interfaces.msg import ArenaFrame, ConnectorReply, FicTracFrame # noqa: F401 out["importable"] = True out["msgs"] = ["FicTracFrame", "ArenaFrame", "ConnectorReply"] @@ -80,7 +80,7 @@ def build(clean: bool) -> dict: "--cmake-args", "-GNinja", "-DCMAKE_BUILD_TYPE=Release", f"-DPython3_EXECUTABLE={sys.executable}", f"-DPython_EXECUTABLE={sys.executable}", # RoboStack's toolchain sets the install rpath to the ENV's lib only; the generated - # Python extension then cannot find libarena_interfaces__*.dylib next to itself, and + # Python extension then cannot find librig_interfaces__*.dylib next to itself, and # macOS SIP strips DYLD_LIBRARY_PATH on the way through pixi's shell (first build on # the Mac: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c'`). Add # the package's own lib dir to the rpath. @@ -104,7 +104,7 @@ def build(clean: bool) -> dict: res["check"] = chk res["steps"].append({"step": "import + serialize", "s": round(time.monotonic() - t1, 2), "ok": chk.get("serializes", False)}) res["ok"] = bool(chk.get("serializes")) - libs = sorted(p.name for p in (INSTALL / "lib").glob("libarena_interfaces__*")) if (INSTALL / "lib").exists() else [] + libs = sorted(p.name for p in (INSTALL / "lib").glob("librig_interfaces__*")) if (INSTALL / "lib").exists() else [] res["typesupport_libs"] = libs return res diff --git a/ros2-poc/nodes/export_log.py b/rig/nodes/export_log.py similarity index 100% rename from ros2-poc/nodes/export_log.py rename to rig/nodes/export_log.py diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/rig/nodes/fictrac_udp_adapter.py similarity index 93% rename from ros2-poc/nodes/fictrac_udp_adapter.py rename to rig/nodes/fictrac_udp_adapter.py index 2b4f0065..f95bc5e0 100644 --- a/ros2-poc/nodes/fictrac_udp_adapter.py +++ b/rig/nodes/fictrac_udp_adapter.py @@ -21,8 +21,8 @@ pixi run fictrac-adapter -- --port 60000 pixi run sim -- --proto udp --rate 50 # the unmodified simulator feeds it -PLAN B (LAB-303, typed topic): with `--typed` (default `auto` = when arena_interfaces imports) -the adapter ALSO publishes `/fictrac/frame` as arena_interfaces/FicTracFrame — the parsed +PLAN B (LAB-303, typed topic): with `--typed` (default `auto` = when rig_interfaces imports) +the adapter ALSO publishes `/fictrac/frame` as rig_interfaces/FicTracFrame — the parsed columns, the FT tag, the receive stamps AND the verbatim line — so the closed-loop node can subscribe to a typed topic while the mapping math still parses exactly the bytes FicTrac sent. `/fictrac/raw` keeps being published (`--typed only` drops it) so `ros2 topic echo` and older @@ -74,7 +74,7 @@ def __init__(self, host: str, port: int, status_every_s: float, typed: str = "au super().__init__("fictrac_udp_adapter") want_typed = HAVE_IFACES if typed == "auto" else typed in ("on", "only") if typed in ("on", "only") and not HAVE_IFACES: - raise SystemExit("--typed on/only, but arena_interfaces is not importable (pixi install builds it)") + raise SystemExit("--typed on/only, but rig_interfaces is not importable (pixi install builds it)") self.typed_pub = self.create_publisher(FicTracFrame, TYPED_TOPIC, RAW_QOS) if want_typed else None self.pub = None if typed == "only" else self.create_publisher(String, TOPIC, RAW_QOS) self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) @@ -88,7 +88,7 @@ def __init__(self, host: str, port: int, status_every_s: float, typed: str = "au self._buf = b"" self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True) self._thread.start() - self.get_logger().info(f"UDP {host}:{port} → {TOPIC if self.pub else '-'}" + (f" + {TYPED_TOPIC} (arena_interfaces/FicTracFrame)" if self.typed_pub else " (std_msgs/String JSON, reliable)")) + self.get_logger().info(f"UDP {host}:{port} → {TOPIC if self.pub else '-'}" + (f" + {TYPED_TOPIC} (rig_interfaces/FicTracFrame)" if self.typed_pub else " (std_msgs/String JSON, reliable)")) if status_every_s > 0: self._last = (0, time.monotonic()) self.create_timer(status_every_s, self._status) @@ -148,7 +148,7 @@ def main(argv: list[str] | None = None) -> int: p.add_argument("--port", type=int, default=60000, help="UDP bind port — FicTrac's sock_port (default: 60000)") p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)") p.add_argument("--typed", choices=("auto", "on", "off", "only"), default="auto", - help="also publish /fictrac/frame as arena_interfaces/FicTracFrame (auto: when the package imports; only: drop /fictrac/raw)") + help="also publish /fictrac/frame as rig_interfaces/FicTracFrame (auto: when the package imports; only: drop /fictrac/raw)") # ros2 run / launch pass --ros-args; keep them for rclpy. args, ros_args = p.parse_known_args(argv) raise_timer_resolution() # Windows: 1 ms system timer for this process (_common "clocks") diff --git a/ros2-poc/nodes/foxglove_json.py b/rig/nodes/foxglove_json.py similarity index 98% rename from ros2-poc/nodes/foxglove_json.py rename to rig/nodes/foxglove_json.py index f973338f..fc0c5494 100644 --- a/ros2-poc/nodes/foxglove_json.py +++ b/rig/nodes/foxglove_json.py @@ -59,7 +59,7 @@ def wrap_to_pi(r: float) -> float: class FrameDeriver: - """bridge_node.FrameDeriver, verbatim math (ros2-poc/nodes/bridge_node.py).""" + """bridge_node.FrameDeriver, verbatim math (rig/nodes/bridge_node.py).""" def __init__(self, ball_mm: float) -> None: self.radius_mm = ball_mm / 2.0 @@ -232,7 +232,7 @@ def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False) -> dic dst.parent.mkdir(parents=True, exist_ok=True) with open(dst, "wb") as f: w = Writer(f, compression=CompressionType.ZSTD) - w.start(profile="", library="ros2-poc foxglove_json.py") + w.start(profile="", library="rig foxglove_json.py") chan = {} for topic in sorted(schemas): sc = finish_schema(schemas[topic]) or {"type": "object"} diff --git a/ros2-poc/nodes/graph_dump.py b/rig/nodes/graph_dump.py similarity index 100% rename from ros2-poc/nodes/graph_dump.py rename to rig/nodes/graph_dump.py diff --git a/ros2-poc/nodes/kinefly_sim.py b/rig/nodes/kinefly_sim.py similarity index 100% rename from ros2-poc/nodes/kinefly_sim.py rename to rig/nodes/kinefly_sim.py diff --git a/ros2-poc/nodes/kinefly_udp_adapter.py b/rig/nodes/kinefly_udp_adapter.py similarity index 100% rename from ros2-poc/nodes/kinefly_udp_adapter.py rename to rig/nodes/kinefly_udp_adapter.py diff --git a/ros2-poc/nodes/mcap_convert.py b/rig/nodes/mcap_convert.py similarity index 99% rename from ros2-poc/nodes/mcap_convert.py rename to rig/nodes/mcap_convert.py index fc3e5899..a0caa831 100644 --- a/ros2-poc/nodes/mcap_convert.py +++ b/rig/nodes/mcap_convert.py @@ -19,7 +19,7 @@ `line` = the live writer wrote it as a line (hello/config/log/log_control…); `rows` messages expand to their rows; `connector_command` → its connector event; `log_export` → nothing (as today). - /arena/frame the closed-loop evaluation (String JSON or arena_interfaces/ArenaFrame), + /arena/frame the closed-loop evaluation (String JSON or rig_interfaces/ArenaFrame), with the node's OWN sample time `t`/`ms` → [ms, fc, idx, ft, x, y, hd] /arena/event {"seq", …a bridge-authored event…}: bias_config, heading_tare, connector_status, source_lost/resumed, warn → verbatim diff --git a/ros2-poc/nodes/mcap_index.py b/rig/nodes/mcap_index.py similarity index 100% rename from ros2-poc/nodes/mcap_index.py rename to rig/nodes/mcap_index.py diff --git a/ros2-poc/nodes/recorder.py b/rig/nodes/recorder.py similarity index 100% rename from ros2-poc/nodes/recorder.py rename to rig/nodes/recorder.py diff --git a/ros2-poc/nodes/rig.py b/rig/nodes/rig.py similarity index 99% rename from ros2-poc/nodes/rig.py rename to rig/nodes/rig.py index 4e617ea5..8d337e9f 100644 --- a/ros2-poc/nodes/rig.py +++ b/rig/nodes/rig.py @@ -31,7 +31,7 @@ HERE = Path(__file__).resolve().parent NODES = HERE -ROOT = HERE.parent # ros2-poc/ (the pixi workspace) +ROOT = HERE.parent # rig/ (the pixi workspace) SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py" # `pixi install -e viz` puts foxglove_bridge in a sibling of the env this runs in: under # .pixi/envs, or under the `detached-environments` directory when one is configured (the @@ -239,7 +239,7 @@ def main(argv: list[str] | None = None) -> int: c.start() children.append(c) time.sleep(0.3) - fox = f" Foxglove → ws://localhost:{FOXGLOVE_PORT} (layouts: ros2-poc/foxglove/)" if foxglove else "" + fox = f" Foxglove → ws://localhost:{FOXGLOVE_PORT} (layouts: rig/foxglove/)" if foxglove else "" print(f"[rig] up: {', '.join(c.name for c in children)} — Studio → ws://localhost:8765{fox} (Ctrl-C to stop)", file=sys.stderr) while not stop.is_set(): time.sleep(0.5) diff --git a/ros2-poc/nodes/scanimage_cmd.py b/rig/nodes/scanimage_cmd.py similarity index 100% rename from ros2-poc/nodes/scanimage_cmd.py rename to rig/nodes/scanimage_cmd.py diff --git a/ros2-poc/nodes/scanimage_node.py b/rig/nodes/scanimage_node.py similarity index 100% rename from ros2-poc/nodes/scanimage_node.py rename to rig/nodes/scanimage_node.py diff --git a/ros2-poc/nodes/viz_node.py b/rig/nodes/viz_node.py similarity index 100% rename from ros2-poc/nodes/viz_node.py rename to rig/nodes/viz_node.py diff --git a/ros2-poc/pixi.lock b/rig/pixi.lock similarity index 96% rename from ros2-poc/pixi.lock rename to rig/pixi.lock index 5a9b8645..f4069ac0 100644 --- a/ros2-poc/pixi.lock +++ b/rig/pixi.lock @@ -1719,7 +1719,7 @@ environments: - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-yaml-cpp-vendor-9.0.1-np2py312h1bab3cf_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312h815c85b_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-zstd-vendor-0.26.11-np2py312h6a0d68b_25.conda - - conda_source: arena_interfaces[10726d3a] @ interfaces/arena_interfaces + - conda_source: rig_interfaces[10726d3a] @ interfaces/rig_interfaces osx-arm64: - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-51.0-unix_0.conda @@ -2179,7 +2179,7 @@ environments: - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-visualization-msgs-5.3.8-np2py312haf4906a_21.conda - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-yaml-cpp-vendor-9.0.1-np2py312haf4906a_21.conda - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-zstd-vendor-0.26.11-np2py312haf4906a_21.conda - - conda_source: arena_interfaces[1555b18d] @ interfaces/arena_interfaces + - conda_source: rig_interfaces[1555b18d] @ interfaces/rig_interfaces win-64: - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda @@ -2601,409 +2601,7 @@ environments: - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-yaml-cpp-vendor-9.0.1-np2py312hdd89193_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda - - conda_source: arena_interfaces[3fd15877] @ interfaces/arena_interfaces - typed-prebuilt: - channels: - - url: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/ - - url: https://conda.anaconda.org/conda-forge/ - - url: https://conda.anaconda.org/robostack-jazzy/ - 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- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdf-parser-plugin-2.10.1-np2py312hdd89193_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-6.0-py312h77058a8_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-headers-3.0-py312h7accfcc_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-visualization-msgs-5.3.8-np2py312hdd89193_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-yaml-cpp-vendor-9.0.1-np2py312hdd89193_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda - - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda - - conda: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda + - conda_source: rig_interfaces[3fd15877] @ interfaces/rig_interfaces viz: channels: - url: https://conda.anaconda.org/conda-forge/ @@ -28205,22 +27803,7 @@ packages: license: Apache-2.0 OR BSD-3-Clause size: 21471 timestamp: 1791433174793 -- conda: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda - sha256: 5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883 - md5: 4315cebf35bc406b6c59d6eb651e80f8 - depends: - - ros-jazzy-rosidl-default-runtime - - ros2-distro-mutex - - ros2-distro-mutex >=0.19.0,<0.20.0a0 - - vc >=14.3,<15 - - vc14_runtime >=14.44.35208 - - ucrt >=10.0.20348.0 - - python_abi 3.12.* *_cp312 - - numpy >=1.25,<3 - license: LicenseRef-MIT - size: 103850 - timestamp: 1792161098625 -- conda_source: arena_interfaces[10726d3a] @ interfaces/arena_interfaces +- conda_source: rig_interfaces[10726d3a] @ interfaces/rig_interfaces variants: target_platform: linux-64 depends: @@ -28579,7 +28162,7 @@ packages: - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-service-msgs-2.0.4-np2py312h1bab3cf_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-uncrustify-vendor-3.0.1-np2py312h1bab3cf_25.conda - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-unique-identifier-msgs-2.5.1-np2py312h1bab3cf_25.conda -- conda_source: arena_interfaces[1555b18d] @ interfaces/arena_interfaces +- conda_source: rig_interfaces[1555b18d] @ interfaces/rig_interfaces variants: target_platform: osx-arm64 depends: @@ -28940,7 +28523,7 @@ packages: - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-service-msgs-2.0.4-np2py312haf4906a_21.conda - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-uncrustify-vendor-3.0.1-np2py312haf4906a_21.conda - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-unique-identifier-msgs-2.5.1-np2py312haf4906a_21.conda -- conda_source: arena_interfaces[3fd15877] @ interfaces/arena_interfaces +- conda_source: rig_interfaces[3fd15877] @ interfaces/rig_interfaces variants: c_compiler: vs2022 cxx_compiler: vs2022 diff --git a/ros2-poc/pixi.toml b/rig/pixi.toml similarity index 82% rename from ros2-poc/pixi.toml rename to rig/pixi.toml index fbec7aeb..9142a838 100644 --- a/ros2-poc/pixi.toml +++ b/rig/pixi.toml @@ -1,4 +1,5 @@ -# ros2-poc — ROS 2 bridge proof of concept (LAB-303, decision in flight). +# rig — the ROS 2 bridge graph (LAB-303). Renamed from `ros2-poc/` on 2026-10-26 +# (docs/development/rig-software-repos-and-runners.md §3.2 / §7.12). # # A SEPARATE pixi workspace from the repo root one on purpose: the root `pixi.toml` # (bridge 3.4, tests, release tooling) stays untouched, and the two environments @@ -13,11 +14,11 @@ # resolve through pixi's default channel alias (conda.anaconda.org), which is what # a lab network with an allowlisting proxy is most likely to permit. [workspace] -name = "arena-ros2-poc" +name = "rig" version = "0.1.0" channels = ["conda-forge", "robostack-jazzy"] platforms = ["osx-arm64", "win-64", "linux-64"] -# pixi-build (preview): `pixi install` builds interfaces/arena_interfaces (our .msg types) as a +# pixi-build (preview): `pixi install` builds interfaces/rig_interfaces (our .msg types) as a # conda package with the RoboStack pixi-build-ros backend. On Windows that build needs the MSVC # v143 toolset and a short build path (docs/typed-windows.md — the cost LAB-303 Plan B records); # everything else is downloaded as before. @@ -64,7 +65,7 @@ ros-jazzy-rosbag2-storage-mcap = "*" mcap = ">=1.2" # ── typed messages = the OPT-IN `typed` environment ─────────────────────────── -# `pixi install -e typed` builds interfaces/arena_interfaces (FicTracFrame, ArenaFrame, +# `pixi install -e typed` builds interfaces/rig_interfaces (FicTracFrame, ArenaFrame, # ConnectorReply) from source with the RoboStack pixi-build-ros backend and brings the # ament/rosidl toolchain. rosidl generates C typesupport + a Python C extension, so this # needs a C/C++ compiler on the installing machine (Windows: the MSVC v143 toolset, which pixi @@ -74,7 +75,7 @@ mcap = ">=1.2" # run the graph with String topics (the nodes fall back on their own, `--typed auto`). # The build cost is the LAB-303 data point: `pixi run -e typed test` and README.md. [feature.typed.dependencies] -arena_interfaces = { path = "interfaces/arena_interfaces" } +rig_interfaces = { path = "interfaces/rig_interfaces" } ros-jazzy-ament-cmake = "*" ros-jazzy-rosidl-default-generators = "*" ros-jazzy-rosidl-default-runtime = "*" @@ -84,20 +85,24 @@ cmake = "*" ninja = "*" cxx-compiler = "*" -# ── typed messages WITHOUT a compiler = the OPT-IN `typed-prebuilt` environment (win-64) ── -# LAB-303 Plan B test of "build once, publish to a channel" (docs/typed-windows.md §5): `channel/` -# holds arena_interfaces 0.1.0 built ONCE on ww18 (channel/README.md). `pixi install -e -# typed-prebuilt` downloads it like any RoboStack package: no MSVC, no build backend, no MAX_PATH. -# Read over raw.githubusercontent.com pinned to the commit that added the files: a relative -# `./channel` would be written into pixi.lock as this machine's absolute path. win-64 only (the -# channel has nothing else) and its own solve group, so the other environments' locks are -# untouched. A real deployment builds all three platforms in CI and publishes to a hosted channel. -[feature.typed-prebuilt] -platforms = ["win-64"] -channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel"] - -[feature.typed-prebuilt.dependencies] -arena_interfaces = { version = "==0.1.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel" } +# ── typed messages WITHOUT a compiler = the OPT-IN `typed-prebuilt` environment ────────── +# "Build once, publish to a channel" (docs/typed-distribution-decision.md): `pixi install -e +# typed-prebuilt` downloads rig_interfaces like any RoboStack package: no MSVC, no build backend, +# no MAX_PATH. The channel is built by .github/workflows/rig-interfaces.yml (three platforms) and +# read over raw.githubusercontent.com pinned to the commit that holds the payload: a relative +# `./channel` would be written into pixi.lock as this machine's absolute path. Its own solve +# group, so the other environments' locks are untouched. +# +# TODO(rename): re-enabled below once the CI channel is committed. The previous pin +# (commit 30512581, `ros2-poc/channel`, win-64 only) holds the OLD package name +# `arena_interfaces 0.1.0`, which code importing `rig_interfaces` must never install, and the +# `rig_interfaces 0.2.0` channel does not exist until CI has built it from this rename. +# [feature.typed-prebuilt] +# platforms = ["win-64", "osx-arm64", "linux-64"] +# channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools//rig/channel"] +# +# [feature.typed-prebuilt.dependencies] +# rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools//rig/channel" } # ── seeing the graph = the OPT-IN `viz` environment ────────────────────────── # `pixi install -e viz`: rqt_graph (live node/topic graph, Qt), rqt_topic / rqt_console, and @@ -114,7 +119,8 @@ ros-jazzy-foxglove-bridge = "*" default = { solve-group = "poc" } typed = { features = ["typed"], solve-group = "poc" } viz = { features = ["viz"], solve-group = "poc" } -typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" } +# TODO(rename): see the typed-prebuilt feature above. +# typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" } [tasks] # ── hour one: middleware bring-up ─────────────────────────────────────────── @@ -153,7 +159,7 @@ export = "python nodes/export_log.py" # Rewrite a finished bag indexed + zstd-compressed (the bridge does this itself when a run # closes cleanly; use it on a bag recorded before that, or after `--recover`). reindex = "python nodes/mcap_index.py" -# Build interfaces/arena_interfaces with colcon inside the `typed` env (the alternative to +# Build interfaces/rig_interfaces with colcon inside the `typed` env (the alternative to # the pixi-build route); timed and recorded in README.md → "Plan B spike". build-interfaces = "python nodes/build_interfaces.py" # ── seeing the graph ───────────────────────────────────────────────────────── diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/rig/scanimage-day-2026-10-16.md similarity index 99% rename from ros2-poc/scanimage-day-2026-10-16.md rename to rig/scanimage-day-2026-10-16.md index 8ae7fa54..1241c0cd 100644 --- a/ros2-poc/scanimage-day-2026-10-16.md +++ b/rig/scanimage-day-2026-10-16.md @@ -1,5 +1,7 @@ # ScanImage day 2026-10-16: results log +*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* + Plan: [SCANIMAGE-DAY.md](SCANIMAGE-DAY.md) (the two-hour version). PC: `REISERLAB-BERGA` (reiserlab-bergamo1). Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET. diff --git a/ros2-poc/shm_bench.py b/rig/shm_bench.py similarity index 100% rename from ros2-poc/shm_bench.py rename to rig/shm_bench.py diff --git a/ros2-poc/shm_bench_qpc.py b/rig/shm_bench_qpc.py similarity index 100% rename from ros2-poc/shm_bench_qpc.py rename to rig/shm_bench_qpc.py diff --git a/ros2-poc/sizing/compare.py b/rig/sizing/compare.py similarity index 100% rename from ros2-poc/sizing/compare.py rename to rig/sizing/compare.py diff --git a/ros2-poc/sizing/frames300.py b/rig/sizing/frames300.py similarity index 100% rename from ros2-poc/sizing/frames300.py rename to rig/sizing/frames300.py diff --git a/ros2-poc/tests/check_runlog_readers.js b/rig/tests/check_runlog_readers.js similarity index 99% rename from ros2-poc/tests/check_runlog_readers.js rename to rig/tests/check_runlog_readers.js index bc7451e3..dd50d16f 100644 --- a/ros2-poc/tests/check_runlog_readers.js +++ b/rig/tests/check_runlog_readers.js @@ -16,7 +16,7 @@ * node tests/check_runlog_readers.js export.jsonl [--expect-kf] [--json] * * Run it with the ROOT workspace's Node (`pixi run --manifest-path ../pixi.toml node …`); - * the ros2-poc env deliberately has no Node. + * the rig env deliberately has no Node. */ 'use strict'; diff --git a/ros2-poc/tests/si_json_mock.py b/rig/tests/si_json_mock.py similarity index 100% rename from ros2-poc/tests/si_json_mock.py rename to rig/tests/si_json_mock.py diff --git a/ros2-poc/tests/studio_emulator.py b/rig/tests/studio_emulator.py similarity index 99% rename from ros2-poc/tests/studio_emulator.py rename to rig/tests/studio_emulator.py index 3fba669f..d8fac2c0 100644 --- a/ros2-poc/tests/studio_emulator.py +++ b/rig/tests/studio_emulator.py @@ -322,7 +322,7 @@ def main(argv: list[str] | None = None) -> int: p.add_argument("--bias-amplitude", type=float, default=90.0) p.add_argument("--bias-frequency", type=float, default=0.0) p.add_argument("--min-frames", type=int, default=50, help="assert at least this many applied frames per epoch") - p.add_argument("--rig-id", default="ros2-poc") + p.add_argument("--rig-id", default="rig") p.add_argument("--connector-cmds", action="store_true", help="also drive the bias connector (startRecording/getTimestamp/stopRecording) through connector_command, as the Studio runner does") p.add_argument("--connector-video", default="poc_studio.avi", help="startRecording filename for --connector-cmds") p.add_argument("--scanimage-cmds", action="store_true", help="also drive the scanimage connector (ping/setFileStem/set/grab/waitIdle/abort/get/bogus) through connector_command") diff --git a/ros2-poc/tests/test_ros2_poc.py b/rig/tests/test_ros2_poc.py similarity index 98% rename from ros2-poc/tests/test_ros2_poc.py rename to rig/tests/test_ros2_poc.py index 263105bf..b4d3ea50 100644 --- a/ros2-poc/tests/test_ros2_poc.py +++ b/rig/tests/test_ros2_poc.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 """test_ros2_poc.py — the LAB-303 proof-of-concept acceptance run, end to end, no hardware. - pixi run test # from ros2-poc/ (≈ 45 s) + pixi run test # from rig/ (≈ 45 s) pixi run test -- --epoch-s 4 --keep Brings up the WHOLE graph in this process's pixi env — Zenoh router, FicTrac UDP adapter, @@ -39,7 +39,7 @@ v2; full level carries the 25 FicTrac columns ordering: `seq` (live order) vs `time` same lines; count of same-ms swaps; identical closed-loop report either way - typed topics when arena_interfaces is built ArenaFrame / FicTracFrame schemas in the bag + typed topics when rig_interfaces is built ArenaFrame / FicTracFrame schemas in the bag crash: bridge node SIGKILLed mid-run what `--recover` + conversion salvages from the bag (both writer profiles) vs the line-buffered NDJSON — reported, crashsafe profile gated; @@ -280,7 +280,7 @@ def main(argv: list[str] | None = None) -> int: ap.add_argument("--no-crash", action="store_true", help="skip the crash phase (bridge node SIGKILLed mid-run, both profiles)") a = ap.parse_args(argv) - work = Path(a.workdir) if a.workdir else Path(tempfile.mkdtemp(prefix="ros2-poc-test-")) + work = Path(a.workdir) if a.workdir else Path(tempfile.mkdtemp(prefix="rig-test-")) work.mkdir(parents=True, exist_ok=True) logdir = work / "proc-logs" logdir.mkdir(exist_ok=True) @@ -402,8 +402,8 @@ def side_actor() -> None: missing = [t for t in want_topics if not bagsum.get("topics", {}).get(t)] check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias + scanimage cmd/reply/status, fictrac)", not missing and (bagsum.get("topics", {}).get("/fictrac/frame") or bagsum.get("topics", {}).get("/fictrac/raw")), f"missing {missing}") - typed = any(s.startswith("arena_interfaces/") for s in bagsum.get("schemas", [])) - check("typed messages in the bag when arena_interfaces is built (else String fallback, reported)", + typed = any(s.startswith("rig_interfaces/") for s in bagsum.get("schemas", [])) + check("typed messages in the bag when rig_interfaces is built (else String fallback, reported)", True, "") print(f" info typed topics: {typed} ({bagsum.get('schemas')})", file=sys.stderr) fl = bagsum.get("frame_lag_ms") or {} @@ -565,7 +565,7 @@ def side_actor() -> None: ifc = run_capture([PY, str(NODES / "build_interfaces.py"), "--check"], timeout=60) have_ifaces = ifc.returncode == 0 if have_ifaces: - check("typed: arena_interfaces importable → ArenaFrame + FicTracFrame recorded in the bag", + check("typed: rig_interfaces importable → ArenaFrame + FicTracFrame recorded in the bag", typed and bagsum.get("topics", {}).get("/fictrac/frame", 0) > 0, str(bagsum.get("schemas"))) tv = typed_frame_values(main_bag) if main_bag else {} check("typed: ArenaFrame VALUES decode from the bag's own schema — core fields finite, fc monotonic, " @@ -574,7 +574,7 @@ def side_actor() -> None: print(f" info typed frames: {tv.get('n')}, derived finite on {tv.get('finite_frac')} of frames 2+, " f"|turning| ≤ {tv.get('turning_max')} deg/s, |forward| ≤ {tv.get('forward_max')} mm/s", file=sys.stderr) else: - print(" info arena_interfaces not importable here: String topics used (pixi install builds it on osx/linux; Windows needs MSVC)", file=sys.stderr) + print(" info rig_interfaces not importable here: String topics used (pixi install builds it on osx/linux; Windows needs MSVC)", file=sys.stderr) check("bridge node still alive at the end of the main run", bridge.alive()) diff --git a/ros2-poc/tests/test_viz_node.py b/rig/tests/test_viz_node.py similarity index 100% rename from ros2-poc/tests/test_viz_node.py rename to rig/tests/test_viz_node.py diff --git a/ros2-poc/tools/patfile.py b/rig/tools/patfile.py similarity index 100% rename from ros2-poc/tools/patfile.py rename to rig/tools/patfile.py diff --git a/ros2-poc/tools/tiff_run_to_mcap.py b/rig/tools/tiff_run_to_mcap.py similarity index 99% rename from ros2-poc/tools/tiff_run_to_mcap.py rename to rig/tools/tiff_run_to_mcap.py index 849752ad..d7106cb5 100644 --- a/ros2-poc/tools/tiff_run_to_mcap.py +++ b/rig/tools/tiff_run_to_mcap.py @@ -26,7 +26,7 @@ stimulus timeline is placed on the same clock through the DO1 pulses ScanImage stamped into the frames (aux trigger 0): the first pulse is the first trialParams. Without a run log the step edges are the protocol's nominal lengths — the day's host-timed steps ran 4.00 s (Chrome throttling), see -ros2-poc/scanimage-day-2026-10-16.md — so the stimulus track is labelled RECONSTRUCTED; the pixels are +rig/scanimage-day-2026-10-16.md — so the stimulus track is labelled RECONSTRUCTED; the pixels are what ScanImage recorded. Nothing here proves the light that reached the detectors; the qc trace does. """ @@ -264,7 +264,7 @@ def stimulus_source(): gaps = [] with open(out, "wb") as fh: w = Writer(fh, compression=CompressionType.ZSTD) - w.start(profile="", library="tiff_run_to_mcap.py (webDisplayTools ros2-poc)") + w.start(profile="", library="tiff_run_to_mcap.py (webDisplayTools rig)") sch_img = w.register_schema("foxglove.CompressedImage", "jsonschema", json.dumps(SCHEMA_IMAGE).encode()) sch_scene = w.register_schema("foxglove.SceneUpdate", "jsonschema", json.dumps(SCHEMA_SCENE).encode()) sch_ref = w.register_schema("scanimage.FrameRef", "jsonschema", json.dumps(json_schema("scanimage.FrameRef", { diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/rig/windows-results-ww18-2026-10-15.md similarity index 99% rename from ros2-poc/windows-results-ww18-2026-10-15.md rename to rig/windows-results-ww18-2026-10-15.md index 7e02c4fc..434c264c 100644 --- a/ros2-poc/windows-results-ww18-2026-10-15.md +++ b/rig/windows-results-ww18-2026-10-15.md @@ -1,5 +1,7 @@ # LAB-303 Plan B — Windows results, reiserlab-ww18, 2026-10-15 +*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* + First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: every step except the typed build passed on ww18** — 0–3, 6 and 5b unattended (harness 45/45, now 47/47, after the fixes below), then with Michael at the rig: **4** (BIAS through the node on the Atlas10 camera, incl. the unknown-outcome path), **5** (Studio + diff --git a/tests/test-arena-runner-g6.js b/tests/test-arena-runner-g6.js index e2c0e8bc..d971e19c 100644 --- a/tests/test-arena-runner-g6.js +++ b/tests/test-arena-runner-g6.js @@ -3272,7 +3272,7 @@ async function main() { const makeConnBridge = (connectors, replies) => ({ connected: true, bridgeInfo: { - version: connectors ? '3.4 · ros2-poc' : '3.4', + version: connectors ? '3.4 · rig' : '3.4', levels: ['behavior_v2'], connectors }, diff --git a/tests/test-fictrac-bridge-client.js b/tests/test-fictrac-bridge-client.js index 651f4b6f..66bd14bc 100644 --- a/tests/test-fictrac-bridge-client.js +++ b/tests/test-fictrac-bridge-client.js @@ -1147,7 +1147,7 @@ async function main() { check('3.4 hello_ack → supportsConnector null', client.supportsConnector('bias'), null); ws.message({ type: 'hello_ack', - bridge: '3.4 · ros2-poc', + bridge: '3.4 · rig', levels: ['behavior_v2'], level: 'behavior_v2', connectors: ['bias'] From 39eeb1fa43874aae7d845dfec2a8f049c68f8954 Mon Sep 17 00:00:00 2001 From: Michael B Reiser Date: Mon, 26 Oct 2026 18:03:22 -0400 Subject: [PATCH 2/5] rig: commit the CI-built rig_interfaces 0.2.0 channel (payload commit; the next commit pins it and removes the payload from the tree) Artifact rig-interfaces-channel of workflow run 40401906061 (commit eb2bf01): win-64, osx-arm64, linux-64 + an empty noarch, indexed by rattler-index. channel/README.md records the files, sha256s and ros2-distro-mutex pins. The two channel/ ignore lines are lifted for this one commit. Co-Authored-By: Claude Fable 5.1 --- rig/.gitignore | 3 - rig/channel/README.md | 55 ++++++++++++------ rig/channel/linux-64/repodata.json | 1 + rig/channel/linux-64/repodata.json.zst | Bin 0 -> 439 bytes .../linux-64/repodata_shards.msgpack.zst | Bin 0 -> 160 bytes .../rig_interfaces-0.2.0-hb0f4dca_0.conda | Bin 0 -> 105086 bytes ...e110dcda34c950afebd908b155f089.msgpack.zst | Bin 0 -> 429 bytes rig/channel/noarch/repodata.json | 1 + rig/channel/noarch/repodata.json.zst | Bin 0 -> 82 bytes .../noarch/repodata_shards.msgpack.zst | Bin 0 -> 112 bytes rig/channel/osx-arm64/repodata.json | 1 + rig/channel/osx-arm64/repodata.json.zst | Bin 0 -> 431 bytes .../osx-arm64/repodata_shards.msgpack.zst | Bin 0 -> 161 bytes .../rig_interfaces-0.2.0-h60d57d3_0.conda | Bin 0 -> 94008 bytes ...725312afc070e0604a0ae6c7d5c6be.msgpack.zst | Bin 0 -> 418 bytes rig/channel/win-64/repodata.json | 1 + rig/channel/win-64/repodata.json.zst | Bin 0 -> 458 bytes .../win-64/repodata_shards.msgpack.zst | Bin 0 -> 158 bytes .../rig_interfaces-0.2.0-ha41a7fa_0.conda | Bin 0 -> 106009 bytes ...1ac592f65727f9991f70410bfb69a0.msgpack.zst | Bin 0 -> 450 bytes 20 files changed, 41 insertions(+), 21 deletions(-) create mode 100644 rig/channel/linux-64/repodata.json create mode 100644 rig/channel/linux-64/repodata.json.zst create mode 100644 rig/channel/linux-64/repodata_shards.msgpack.zst create mode 100644 rig/channel/linux-64/rig_interfaces-0.2.0-hb0f4dca_0.conda create mode 100644 rig/channel/linux-64/shards/3fb3af3fe3e4f47b206bc5887795a61122e110dcda34c950afebd908b155f089.msgpack.zst create mode 100644 rig/channel/noarch/repodata.json create mode 100644 rig/channel/noarch/repodata.json.zst create mode 100644 rig/channel/noarch/repodata_shards.msgpack.zst create mode 100644 rig/channel/osx-arm64/repodata.json create mode 100644 rig/channel/osx-arm64/repodata.json.zst create mode 100644 rig/channel/osx-arm64/repodata_shards.msgpack.zst create mode 100644 rig/channel/osx-arm64/rig_interfaces-0.2.0-h60d57d3_0.conda create mode 100644 rig/channel/osx-arm64/shards/065a0b97f1038aedb9f3c1e9dad6b89bbb725312afc070e0604a0ae6c7d5c6be.msgpack.zst create mode 100644 rig/channel/win-64/repodata.json create mode 100644 rig/channel/win-64/repodata.json.zst create mode 100644 rig/channel/win-64/repodata_shards.msgpack.zst create mode 100644 rig/channel/win-64/rig_interfaces-0.2.0-ha41a7fa_0.conda create mode 100644 rig/channel/win-64/shards/32bda00ceb2164e9f5d450a72ed02d928a1ac592f65727f9991f70410bfb69a0.msgpack.zst diff --git a/rig/.gitignore b/rig/.gitignore index 7baebd7f..4bd43b63 100644 --- a/rig/.gitignore +++ b/rig/.gitignore @@ -14,6 +14,3 @@ interfaces/build.log interfaces/build-result.json # colcon build logs (never commit) interfaces/log/ -# the one-off win-64 channel payload lives at commit 3051258 (pixi.toml pins that URL); not in the tree -channel/noarch/ -channel/win-64/ diff --git a/rig/channel/README.md b/rig/channel/README.md index ee722754..3fb4a04a 100644 --- a/rig/channel/README.md +++ b/rig/channel/README.md @@ -1,23 +1,42 @@ -# ros2-poc/channel — a prebuilt arena_interfaces (LAB-303 Plan B test, win-64 only) +# rig/channel — the CI-built `rig_interfaces` conda channel -*Paths in this record predate the 2026-10-26 rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`.* +A conda channel with one package, `rig_interfaces` (the typed ROS 2 messages of the rig graph: +`FicTracFrame`, `ArenaFrame`, `ConnectorReply`), read by the opt-in `typed-prebuilt` environment in +`../pixi.toml` over raw.githubusercontent.com, pinned to the commit that holds the payload, so a +rig PC **without a compiler** installs typed messages as a download. Built by +`.github/workflows/rig-interfaces.yml` (decision: `../docs/typed-distribution-decision.md`); the +recipe for the next rebuild is in that note under "Releasing a new build". -> **2026-10-18:** the package payload (`win-64/*.conda`, repodata) was removed from the tree — -> a binary in git history is enough for the pinned URL the `typed-prebuilt` environment reads -> (commit `30512581`, see `../pixi.toml`), and the CI-built channel replaces it. This README stays -> as the record of how the one-off package was built. +**The package payload is not in the tree.** Like the 2026-10-18 removal of the first (win-64) +payload, the `/` directories are committed ONCE (the "payload commit" the `typed-prebuilt` +URL in `../pixi.toml` pins) and removed again in the next commit; git history serves the pinned +URL. This README stays as the record of what was built. -A conda channel with one package, read by the opt-in `typed-prebuilt` environment in -`../pixi.toml` over raw.githubusercontent.com (pinned to the commit that added these files), so a -Windows PC **without Visual Studio** can run the graph with typed messages. Stand-in for the -CI-built channel decided on 2026-10-16 (`../docs/typed-distribution-decision.md`): the next -rebuild comes from `.github/workflows/arena-interfaces.yml` (three platforms, `arena-interfaces-channel` -artifact) and replaces this directory; the env then points at an `arena-interfaces-v*` tag. +## rig_interfaces 0.2.0 (2026-10-26) -- `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda`, sha256 `5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883` -- Built 2026-10-16 on ww18 from commit 4632674 (the CMakeLists workaround included) with pixi 0.80.0 - and pixi-build-ros 0.7.6.20261014.1408.4ef64dd: - `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\chan` -- Depends on `ros2-distro-mutex >=0.19,<0.20` (RoboStack Jazzy as locked today) and Python 3.12. +Built by the `rig-interfaces` workflow run +[40401906061](https://github.com/reiserlab/webDisplayTools/actions/runs/40401906061) from commit +`eb2bf01` (the rename `ros2-poc/` → `rig/`, `arena_interfaces` → `rig_interfaces`; PR +[#270](https://github.com/reiserlab/webDisplayTools/pull/270)) with pixi 0.80.0 and the RoboStack +`pixi-build-ros` backend, indexed with `rattler-index`; three platforms plus an empty `noarch/`: -Rebuild and re-commit after any `.msg` change; the env pins `==0.1.0`, so bump the version too. +| subdir | file | sha256 | `ros2-distro-mutex` pin | Python | +|---|---|---|---|---| +| `win-64` | `rig_interfaces-0.2.0-ha41a7fa_0.conda` | `5104b3d9b166fae11d9b0f27baf70cb71afcea6514f0e56943387e7d75a6ed22` | `>=0.20.0,<0.21.0a0` | 3.14 | +| `osx-arm64` | `rig_interfaces-0.2.0-h60d57d3_0.conda` | `c5321504efbf9c53bc2460b3d716ec393b88b9b4202d19e91eca91989eb5c57d` | `>=0.16.0,<0.17.0a0` | 3.12 | +| `linux-64` | `rig_interfaces-0.2.0-hb0f4dca_0.conda` | `0d7489d26092ec4577b4bfff037381f4af4afa6fce7048eee8c265686c35d2b8` | `>=0.20.0,<0.21.0a0` | 3.14 | + +The mutex pins are whatever RoboStack Jazzy the build backend resolved on each runner that day +(the `prefix.dev/robostack-jazzy` mirror), NOT the `ros2-distro-mutex 0.19` the `poc` solve group +locks. `typed-prebuilt` is its own solve group, so it resolves its own RoboStack set per platform +around these pins. The tag `rig-interfaces-v0.2.0` is pending. + +## History + +- `arena_interfaces 0.1.0`, win-64 only (`arena_interfaces-0.1.0-ha41a7fa_0.conda`, sha256 + `5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883`): built 2026-10-16 on ww18 + from commit 4632674 with pixi 0.80.0 and pixi-build-ros 0.7.6.20261014.1408.4ef64dd + (`pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\chan`), depends on + `ros2-distro-mutex >=0.19,<0.20` and Python 3.12. Payload at commit `30512581` + (`ros2-poc/channel`), removed from the tree 2026-10-18. The OLD package name: nothing that + imports `rig_interfaces` may install it. diff --git a/rig/channel/linux-64/repodata.json b/rig/channel/linux-64/repodata.json new file mode 100644 index 00000000..29f56369 --- /dev/null +++ b/rig/channel/linux-64/repodata.json @@ -0,0 +1 @@ +{"info":{"subdir":"linux-64"},"packages":{},"packages.conda":{"rig_interfaces-0.2.0-hb0f4dca_0.conda":{"arch":"x86_64","build":"hb0f4dca_0","build_number":0,"depends":["ros-jazzy-rosidl-default-runtime","ros2-distro-mutex","ros2-distro-mutex >=0.20.0,<0.21.0a0","libgcc >=16","libstdcxx >=16","python_abi 3.14.* *_cp314","numpy >=1.25,<3"],"indexed_timestamp":1793049094975,"license":"LicenseRef-MIT","md5":"4ebaa2cd9733451b0b3e59deb47e5fb6","name":"rig_interfaces","platform":"linux","sha256":"0d7489d26092ec4577b4bfff037381f4af4afa6fce7048eee8c265686c35d2b8","size":105086,"subdir":"linux-64","timestamp":1793048970684,"version":"0.2.0"}},"repodata_version":1,"v3":{}} \ No newline at end of file diff --git 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ros2-distro-mutex >=0.16.0,<0.17.0a0 + - libcxx >=23 + - python_abi 3.12.* *_cp312 + - numpy >=1.25,<3 + license: LicenseRef-MIT + size: 94008 + timestamp: 1793048978759 +- conda: https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel/win-64/rig_interfaces-0.2.0-ha41a7fa_0.conda + sha256: 5104b3d9b166fae11d9b0f27baf70cb71afcea6514f0e56943387e7d75a6ed22 + md5: 89bafa8c42ed698b93e78ba3d9034022 + depends: + - ros-jazzy-rosidl-default-runtime + - ros2-distro-mutex + - ros2-distro-mutex >=0.20.0,<0.21.0a0 + - vc >=14.3,<15 + - vc14_runtime >=14.44.35208 + - ucrt >=10.0.20348.0 + - python_abi 3.14.* *_cp314 + - numpy >=1.25,<3 + license: LicenseRef-MIT + size: 106009 + timestamp: 1793049050900 - conda_source: rig_interfaces[10726d3a] @ interfaces/rig_interfaces variants: target_platform: linux-64 diff --git a/rig/pixi.toml b/rig/pixi.toml index 9142a838..4d2aa2f8 100644 --- a/rig/pixi.toml +++ b/rig/pixi.toml @@ -87,22 +87,20 @@ cxx-compiler = "*" # ── typed messages WITHOUT a compiler = the OPT-IN `typed-prebuilt` environment ────────── # "Build once, publish to a channel" (docs/typed-distribution-decision.md): `pixi install -e -# typed-prebuilt` downloads rig_interfaces like any RoboStack package: no MSVC, no build backend, -# no MAX_PATH. The channel is built by .github/workflows/rig-interfaces.yml (three platforms) and -# read over raw.githubusercontent.com pinned to the commit that holds the payload: a relative -# `./channel` would be written into pixi.lock as this machine's absolute path. Its own solve -# group, so the other environments' locks are untouched. -# -# TODO(rename): re-enabled below once the CI channel is committed. The previous pin -# (commit 30512581, `ros2-poc/channel`, win-64 only) holds the OLD package name -# `arena_interfaces 0.1.0`, which code importing `rig_interfaces` must never install, and the -# `rig_interfaces 0.2.0` channel does not exist until CI has built it from this rename. -# [feature.typed-prebuilt] -# platforms = ["win-64", "osx-arm64", "linux-64"] -# channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools//rig/channel"] -# -# [feature.typed-prebuilt.dependencies] -# rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools//rig/channel" } +# typed-prebuilt` downloads rig_interfaces 0.2.0 like any RoboStack package: no MSVC, no build +# backend, no MAX_PATH. The channel is built by .github/workflows/rig-interfaces.yml (win-64, +# osx-arm64, linux-64; channel/README.md lists the files and sha256s) and read over +# raw.githubusercontent.com pinned to the payload commit — git history serves it, the tree holds +# only channel/README.md (a relative `./channel` would be written into pixi.lock as this machine's +# absolute path). Its own solve group, so the other environments' locks are untouched; the CI +# packages pin the ros2-distro-mutex their runner resolved (channel/README.md), not the poc +# group's, so this group resolves its own RoboStack set per platform. +[feature.typed-prebuilt] +platforms = ["win-64", "osx-arm64", "linux-64"] +channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel"] + +[feature.typed-prebuilt.dependencies] +rig_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel" } # ── seeing the graph = the OPT-IN `viz` environment ────────────────────────── # `pixi install -e viz`: rqt_graph (live node/topic graph, Qt), rqt_topic / rqt_console, and @@ -119,8 +117,7 @@ ros-jazzy-foxglove-bridge = "*" default = { solve-group = "poc" } typed = { features = ["typed"], solve-group = "poc" } viz = { features = ["viz"], solve-group = "poc" } -# TODO(rename): see the typed-prebuilt feature above. -# typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" } +typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" } [tasks] # ── hour one: middleware bring-up ─────────────────────────────────────────── From 001c8db9e2042bfde472d56b4e332563c3ccdf0d Mon Sep 17 00:00:00 2001 From: Michael B Reiser Date: Mon, 26 Oct 2026 18:09:36 -0400 Subject: [PATCH 4/5] =?UTF-8?q?docs:=20cleanup-complete=20note=20in=20?= =?UTF-8?q?=C2=A79=20of=20the=20rig-software=20decision=20record=20(what?= =?UTF-8?q?=20the=20extraction=20session=20inherits)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-Authored-By: Claude Fable 5.1 --- .../rig-software-repos-and-runners.md | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md index 8181ef76..8b0d870c 100644 --- a/docs/development/rig-software-repos-and-runners.md +++ b/docs/development/rig-software-repos-and-runners.md @@ -342,6 +342,34 @@ Extraction directly after cleanup is preferred now that the Python runner is a c consumer: the runner and its developer get a clean target, and the move is done once. The cost of choosing boundaries with one live consumer is bounded by moving only the obvious set. +### Cleanup complete (2026-10-26) — what the extraction session inherits + +Done after release 2026-10-20 (`main` 55b4cec, tag `release-2026-10-20`): + +- **One tree.** `ros2-poc/` is `rig/` and the interfaces package is `rig_interfaces` 0.2.0 + (rename PR [#270](https://github.com/reiserlab/webDisplayTools/pull/270), no behavior change; the `rig-interfaces` workflow builds the package on + win-64 / osx-arm64 / linux-64 and publishes the channel artifact; the `typed-prebuilt` environment + reads the CI-built channel). Every message type keeps its name (`ArenaFrame`, `FicTracFrame`, + `ConnectorReply`); only the package, and with it the Zenoh type key, changed — before any released + bag carried the typed names. +- **Satellites rebased onto released main, all green:** #264 (10-column FicTrac record), #261 + (ScanImage ZMQ frames; off every tier until the LAB-311 lab day), #266 (SiPM node, draft, LAB-319), + #219 (controller settings block, LAB-230; conflicts resolved, decision on its candidate pending). + #257 closed (shipped in #254). New PRs from branches that had none: #269 (okey-cokey rig: CW/CCW + pair protocols, camera + G6 Foxglove dashboard, uFMF tools, ww14 run records) and #268 (docs + follow-up of #264). Open PRs that touch the old path are rebased over the rename when they next + move (git's directory-rename detection carries their files; `arena_interfaces` imports are edited + by hand). +- **Branches and worktrees:** disposition list in the session's proposals note; merged and + superseded branches deleted after Michael's OK; `rescue/2026-09-27-worktree-edits` kept as the tag + `archive/rescue-2026-09-27`; `claude/tiff2mcap-runlog-clock` (tiff2mcap `--runlog`) still to land + as a PR after the rename. +- **Second candidate:** candidate 2026-10-26 = #270 + #264 + #219 (Michael's choice, 2026-10-26); the merge of #264 with the rename conflicts in six `rig/` files and is resolved by taking #264's hunks with the rename substitutions applied (`pixi run tiers -- status` names the live SHA). + +The extraction session (LAB-338) starts from `rig/` on `main` with the §3.3 inventory as its move +list; the open satellites above are the only in-flight changes under `rig/`. Nothing in this cleanup +changed the inventory's destinations. + ## 10. Decided, hypotheses, commitments - **Decided:** the three repositories and their downward dependencies; two peer runners with the web From 92142a58a9605d03498d915eb4d9de8fc9873edb Mon Sep 17 00:00:00 2001 From: Michael B Reiser Date: Mon, 26 Oct 2026 18:25:04 -0400 Subject: [PATCH 5/5] docs: remove the pilot sign-off gate between cleanup and extraction (rig-software decision record) Michael, 2026-10-26: Frank is aware of and supportive of the direction, so extraction starts as soon as the cleanup candidate is released. Sections 9, 10 and 12. Co-Authored-By: Claude Fable 5.1 --- .../development/rig-software-repos-and-runners.md | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/docs/development/rig-software-repos-and-runners.md b/docs/development/rig-software-repos-and-runners.md index 8b0d870c..1dad60cb 100644 --- a/docs/development/rig-software-repos-and-runners.md +++ b/docs/development/rig-software-repos-and-runners.md @@ -327,11 +327,11 @@ These items are the body of the rig-nodes ticket and apply to pyDisplayTools as ## 9. Sequencing ``` -docs-only PR (this record) ──▶ gate 1: Michael runs `pixi run release` for #262 (candidate 2026-10-20) +docs-only PR (this record) ──▶ gate: Michael runs `pixi run release` for #262 (candidate 2026-10-20) ──▶ CLEANUP session: rebase #261 / #264 / #266 / #260 onto released main → second candidate; okey-cokey and tiff2mcap branches → PRs or close; stale worktrees and branches removed; `ros2-poc/` → `rig/`; `arena_interfaces` → `rig_interfaces`; package-set build; hardware validation - ──▶ gate 2: Frank's pilot sign-off (about 2026-10-30) + ──▶ gate: Michael releases the cleanup candidate (2026-10-26: #264 + #219 + #270), so `rig/` is on main ──▶ EXTRACTION session: create rig-nodes; move the obvious set (section 3.3) with history; package-set build and channel; webDisplayTools' `rig/` workspace pins it ──▶ RUNNER PLAN session (plan mode, own review; the second developer joins): revive pyDisplayTools, @@ -342,6 +342,11 @@ Extraction directly after cleanup is preferred now that the Python runner is a c consumer: the runner and its developer get a clean target, and the move is done once. The cost of choosing boundaries with one live consumer is bounded by moving only the obvious set. +**No sign-off gate before extraction (Michael, 2026-10-26).** An earlier draft put Frank's pilot +sign-off (about 2026-10-30) between cleanup and extraction. Frank is aware of and supportive of the +direction, so that gate is removed: extraction starts as soon as the cleanup candidate is released. +Frank's remaining input is the `version3` question (section 12), which does not block the move. + ### Cleanup complete (2026-10-26) — what the extraction session inherits Done after release 2026-10-20 (`main` 55b4cec, tag `release-2026-10-20`): @@ -376,7 +381,8 @@ changed the inventory's destinations. primary; the Python runner on the shared IR in pyDisplayTools; release before runner work; cleanup → extraction → runner plan; no Flutter; Python first with C++ as the compiled default; no submodules; pixi-built package sets through a channel; `rig_interfaces` rename in the cleanup session; MATLAB - YAML runner G4.1-only and frozen; protocol authority to spec plus fixtures. + YAML runner G4.1-only and frozen; protocol authority to spec plus fixtures; no sign-off gate between + cleanup and extraction (2026-10-26). - **Hypotheses awaiting evidence:** the exact rig-nodes package map beyond the obvious set (needs the runner and the robot station as consumers); robot-station toolchain compatibility (needs Isabel and a real install on the robot PC); whether `version3` merges or is archived (Frank). @@ -420,8 +426,7 @@ items in section 4 before code. ## 12. Open questions -- Frank: merge `version3` as the MATLAB runner's last feature release, or archive it? Pilot sign-off - date. +- Frank: merge `version3` as the MATLAB runner's last feature release, or archive it? - Isabel: is "shared distribution and middleware, keep colcon inside the pixi environment" workable for `meca_ws`? Which `meca_*` pieces are shared from day one (`meca_cameras` vs `bias_node`)? - Who owns the channel on prefix.dev when it stops being in-repository at a tag?

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zl#>SnC)dp)3lS#3>?=qpJ=brsMp{5aK*$6~rSgKywe!!oWA{IQH8xop%T>jx*-#)Z zcX|b#7H2UK3MA4QEedlgrngQ9aRDLjd$#d{9F0M#q_Q!?a?ZAr4O;Mf`A7S8^#ISoxA9JLvi8l^;`11$B?U;qFB literal 0 HcmV?d00001 From 5d87f78060a2d7a38601a8f32efbef3e3c993fb4 Mon Sep 17 00:00:00 2001 From: Michael B Reiser Date: Mon, 26 Oct 2026 18:06:06 -0400 Subject: [PATCH 3/5] rig: typed-prebuilt reads the CI-built rig_interfaces 0.2.0 channel (pinned to 39eeb1fa); payload removed from the tree MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The feature and environment come back for win-64, osx-arm64 and linux-64, pinned to https://raw.githubusercontent.com/reiserlab/webDisplayTools/39eeb1fa43874aae7d845dfec2a8f049c68f8954/rig/channel (the payload commit); the four channel// directories leave the tree again (`git rm --cached`, ignore lines restored and extended), exactly the 30512581 → 2026-10-18 precedent. pixi.lock: `pixi lock` solved only the prebuilt group (its own solve group); the poc group's records are unchanged (the diff's moved lines re-sort; dropped: the virtual-packages blocks pixi 0.69 does not write, one orphaned win-64 libharfbuzz-devel record of the old prebuilt env). The CI packages pin the RoboStack mutex their runner resolved (win-64 / linux-64: 0.20, Python 3.14; osx-arm64: 0.16, Python 3.12), so the prebuilt group resolves that set per platform, not the poc group's 0.19 (channel/README.md). Verified on osx-arm64: `pixi install --locked -e typed-prebuilt` + import of rig_interfaces.msg.{ArenaFrame,FicTracFrame,ConnectorReply}. Co-Authored-By: Claude Fable 5.1 --- rig/.gitignore | 5 + rig/channel/linux-64/repodata.json | 1 - rig/channel/linux-64/repodata.json.zst | Bin 439 -> 0 bytes .../linux-64/repodata_shards.msgpack.zst | Bin 160 -> 0 bytes .../rig_interfaces-0.2.0-hb0f4dca_0.conda | Bin 105086 -> 0 bytes ...e110dcda34c950afebd908b155f089.msgpack.zst | Bin 429 -> 0 bytes rig/channel/noarch/repodata.json | 1 - rig/channel/noarch/repodata.json.zst | Bin 82 -> 0 bytes .../noarch/repodata_shards.msgpack.zst | Bin 112 -> 0 bytes rig/channel/osx-arm64/repodata.json | 1 - rig/channel/osx-arm64/repodata.json.zst | Bin 431 -> 0 bytes .../osx-arm64/repodata_shards.msgpack.zst | Bin 161 -> 0 bytes .../rig_interfaces-0.2.0-h60d57d3_0.conda | Bin 94008 -> 0 bytes ...725312afc070e0604a0ae6c7d5c6be.msgpack.zst | Bin 418 -> 0 bytes rig/channel/win-64/repodata.json | 1 - rig/channel/win-64/repodata.json.zst | Bin 458 -> 0 bytes .../win-64/repodata_shards.msgpack.zst | Bin 158 -> 0 bytes .../rig_interfaces-0.2.0-ha41a7fa_0.conda | Bin 106009 -> 0 bytes ...1ac592f65727f9991f70410bfb69a0.msgpack.zst | Bin 450 -> 0 bytes rig/pixi.lock | 11744 +++++++++++++++- rig/pixi.toml | 33 +- 21 files changed, 11641 insertions(+), 145 deletions(-) delete mode 100644 rig/channel/linux-64/repodata.json delete mode 100644 rig/channel/linux-64/repodata.json.zst delete mode 100644 rig/channel/linux-64/repodata_shards.msgpack.zst delete mode 100644 rig/channel/linux-64/rig_interfaces-0.2.0-hb0f4dca_0.conda delete mode 100644 rig/channel/linux-64/shards/3fb3af3fe3e4f47b206bc5887795a61122e110dcda34c950afebd908b155f089.msgpack.zst delete mode 100644 rig/channel/noarch/repodata.json delete mode 100644 rig/channel/noarch/repodata.json.zst delete mode 100644 rig/channel/noarch/repodata_shards.msgpack.zst delete mode 100644 rig/channel/osx-arm64/repodata.json delete mode 100644 rig/channel/osx-arm64/repodata.json.zst delete mode 100644 rig/channel/osx-arm64/repodata_shards.msgpack.zst delete mode 100644 rig/channel/osx-arm64/rig_interfaces-0.2.0-h60d57d3_0.conda delete mode 100644 rig/channel/osx-arm64/shards/065a0b97f1038aedb9f3c1e9dad6b89bbb725312afc070e0604a0ae6c7d5c6be.msgpack.zst delete mode 100644 rig/channel/win-64/repodata.json delete mode 100644 rig/channel/win-64/repodata.json.zst delete mode 100644 rig/channel/win-64/repodata_shards.msgpack.zst delete mode 100644 rig/channel/win-64/rig_interfaces-0.2.0-ha41a7fa_0.conda delete mode 100644 rig/channel/win-64/shards/32bda00ceb2164e9f5d450a72ed02d928a1ac592f65727f9991f70410bfb69a0.msgpack.zst diff --git a/rig/.gitignore b/rig/.gitignore index 4bd43b63..898bd004 100644 --- a/rig/.gitignore +++ b/rig/.gitignore @@ -14,3 +14,8 @@ interfaces/build.log interfaces/build-result.json # colcon build logs (never commit) interfaces/log/ +# the channel payload (rig_interfaces 0.2.0, three platforms) lives at commit 39eeb1fa (pixi.toml pins that URL); not in the tree +channel/noarch/ +channel/win-64/ +channel/osx-arm64/ +channel/linux-64/ diff --git a/rig/channel/linux-64/repodata.json b/rig/channel/linux-64/repodata.json deleted file mode 100644 index 29f56369..00000000 --- a/rig/channel/linux-64/repodata.json +++ /dev/null @@ -1 +0,0 @@ -{"info":{"subdir":"linux-64"},"packages":{},"packages.conda":{"rig_interfaces-0.2.0-hb0f4dca_0.conda":{"arch":"x86_64","build":"hb0f4dca_0","build_number":0,"depends":["ros-jazzy-rosidl-default-runtime","ros2-distro-mutex","ros2-distro-mutex >=0.20.0,<0.21.0a0","libgcc >=16","libstdcxx >=16","python_abi 3.14.* *_cp314","numpy >=1.25,<3"],"indexed_timestamp":1793049094975,"license":"LicenseRef-MIT","md5":"4ebaa2cd9733451b0b3e59deb47e5fb6","name":"rig_interfaces","platform":"linux","sha256":"0d7489d26092ec4577b4bfff037381f4af4afa6fce7048eee8c265686c35d2b8","size":105086,"subdir":"linux-64","timestamp":1793048970684,"version":"0.2.0"}},"repodata_version":1,"v3":{}} \ No newline at end of file diff --git a/rig/channel/linux-64/repodata.json.zst 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