Horus SDK

This repository contains the source code for the Horus SDK, which provides access to Horus services.

The SDK is available in two languages:

1. C++14, with (planned) Autosar compliance.
2. Python 3.8.

Dependencies

Building the SDK requires the following dependencies to be installed:

• clang >=10 or gcc >=9.4
  • Development happens with clang >=18 as it provides more checks.
• cmake >=3.20

C++

The source code of the C++ SDK lives in cpp, and is built using CMake. Clients should primarily use the horus::Sdk class defined in cpp/horus/sdk.h

Using the SDK

1. Add a CMake dependency to Horus. For instance, the code below uses FetchContent to import the Horus project from GitHub:

   include(FetchContent)
   
   FetchContent_Declare(horus
     GIT_REPOSITORY https://github.com/seoulrobotics/horus-sdk.git
     GIT_TAG        ...
     SOURCE_SUBDIR cpp
   )
   FetchContent_MakeAvailable(horus)

   The horus::sdk target can then be used:

   target_link_libraries(${target} horus::sdk)

2. Include horus/sdk.h to use the horus::Sdk class:

   #include "horus/sdk.h"
   
   horus::Sdk sdk;

   For usage documentation, see documentation comments on the horus::Sdk class and all the classes it refers to.

Examples for using the SDK exist in cpp/examples.

Note

The SDK includes many implementation details not part of the horus::sdk public API, and these details may change at any time.

Generally, APIs defined in horus/sdk.h and horus/sdk/*.h, as well as APIs indirectly exposed by these headers (e.g. pb::Log in horus::sdk::LogSubscriptionRequest) are stable. All other APIs (including external dependencies) are considered implementation details, and may change without notice.

Installing the SDK

Instead of using FetchContent_Declare(), the SDK may be installed with CMake.

First, it must be built and installed with CMake:

cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HORUS_SDK_BUILD_EXAMPLES=OFF -D HORUS_SDK_BUILD_TESTING=OFF
cmake --build build --target horus_sdk
cmake --install build --prefix install

It can then be loaded in CMake with (assuming that the install prefix is in the CMAKE_PREFIX_PATH):

find_package(horus_sdk CONFIG REQUIRED)

And used with horus::sdk.

Python

The source code of the Python SDK lives in py, and uses asyncio. See py/README.md for more information.

import asyncio
import horus

async def print_logs():
    sdk = horus.Sdk()

    async with sdk.subscribe_to_logs(on_log_message=print):
        ...

See py/examples/print_logs.py for an example.