feat: add rust robonix according to EAIOS whitepaper #13
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- Added Dockerfile and entrypoint script for Tailscale integration. - Introduced .env.template for environment variable configuration. - Removed robonix.png and updated README to reflect changes. - Cleaned up .gitignore to include new directories and files.
- Added core functionality for managing capabilities and skills in Robonix. - Implemented registration service with request and response handling. - Introduced message structures for registration requests and responses. - Created a Docker entrypoint script to source ROS2 environment. - Added .gitignore and Cargo configuration for Rust project setup. - Included test script for registering a Camera capability via ROS2 service call.
- Introduced a new demo RGB camera provider that publishes random color images. - Added registration service with enhanced request and response structures. - Implemented validation for capabilities and skills against specifications. - Updated Docker setup to include Rust installation and environment configuration. - Added scripts for starting and stopping the demo provider. - Cleaned up and organized project structure, including new package files and configurations.wq
- Added new submodule for rust/ros2-client to facilitate message generation. - Renamed 'type' field to 'provider_type' in RegisterRequest and Register.srv for clarity. - Introduced a script to generate Rust structures from the Register.srv file. - Generated new Rust file for Register service structure.
- Added submodules for rust/rcl_interfaces and rust/common_interfaces to enhance project structure. - Updated .gitmodules to include new submodule paths and URLs.
- Updated the test_gen.sh script to generate Rust structures for Image and PointCloud2 messages. - Added new Rust files for Image and PointCloud2 message structures, including necessary fields and documentation.
- Ensured compatibility with ROS2 Humble by forcing the installation of empy version 3.3.4. - Added installation of the lark parser required by rosidl_parser.
- Commented out unused environment variables in Dockerfile for clarity. - Added a new README file for Rust with package management instructions. - Updated .gitignore to include additional files for better management. - Removed obsolete db.json file from the Rust provider. - Introduced new commands and refactored existing ones in the Rust CLI for improved functionality and organization. - Enhanced process management and recipe handling in the Rust codebase. - Added new modules for command execution and improved package registration and unregistration processes.
- Added ca-certificates installation to Dockerfile for improved security. - Updated Rust README with installation instructions for demo packages. - Refined .gitignore to include demo package files. - Introduced a new output module in Rust CLI for consistent logging and messaging. - Enhanced package installation and registration processes with improved user feedback and validation steps.
- Enhanced the `stop_process` method to drop the lock before saving state, improving concurrency. - Introduced new command structures for package management and deployment, including `PackageCommands` and `DeployCommands`. - Updated the `execute` function to handle new command subcommands for better organization. - Improved status command to ensure it only shows packages from an active recipe and added checks for running processes before unregistering.
- Deleted the old README file and replaced it with a comprehensive markdown version for better clarity on usage and installation. - Introduced a new `update_map` skill in the demo package, including start and stop scripts for improved functionality. - Updated the `setup.py` to include the new `update_map_skill` entry point. - Enhanced the `PickSkill` class to utilize the new RobonixSDK for better integration with the core system. - Added new services and message structures for managing AI models and spatial maps, improving the overall architecture of the Robonix system. - Updated various scripts to ensure compatibility with the new message and service definitions. - Refined the Rust CLI configuration to support optional paths for the Robonix message system, enhancing flexibility for users.
- Added optional `impl_id` field to capabilities and skills in PACKAGE_SPEC.md for distinguishing multiple implementations. - Updated Rust code to handle `impl_id` in registration and querying processes, defaulting to "default" if omitted. - Enhanced query responses to include available implementation IDs for capabilities and skills. - Modified client-side code to support `impl_id` in queries and registrations, improving flexibility in usage.
- Clarified the method for setting the ROBONIX_MODEL_API_KEY in the README, allowing users to either export the key or add it directly to the command line for model registration.
- Revised the PACKAGE_SPEC.md to clarify the registration and deployment commands, emphasizing the use of `rbnx deploy register` instead of `rbnx register`. - Enhanced the explanation of capability and skill parameters, including mandatory fields and their mappings. - Updated demo_recipe.yaml to reflect the new command structure for registering capabilities and skills. - Added detailed steps for the deployment workflow, including process management commands for starting, stopping, and unregistering capabilities and skills.
- Introduced a new daemon management system in the Rust CLI, allowing users to start, stop, and check the status of the daemon. - Added a ping service for testing concurrent service calls, improving system responsiveness and reliability. - Refactored existing commands to utilize the daemon for process management, enhancing overall command execution flow. - Updated the Rust CLI to ensure proper handling of daemon responses, including error management and logging. - Enhanced the Dockerfile to support the new daemon structure and dependencies.
- Changed the socket and state directory paths from hardcoded values to user-specific directories under ~/.robonix, improving user experience and flexibility. - Updated related code in daemon_client, daemon, process, and model modules to reflect the new directory structure. - Enhanced README with additional build instructions for robonix-msg.
- Refactored the daemon startup logic to enhance error handling and provide clearer feedback if the daemon fails to start. - Introduced a new method to locate the daemon executable in various common paths, improving flexibility for users. - Added checks to ensure the daemon process starts successfully and that the necessary socket files are created, guiding users to troubleshoot if issues arise. - Updated logging to provide more informative messages during the daemon initialization process.
- Improved error logging in `PickSkill` and `UpdateMapSkill` classes to provide detailed feedback on failures when creating the `RobonixClient` and querying capabilities. - Added signal handling for graceful shutdown in both skills, ensuring proper cleanup and logging during termination. - Refactored the entity generation process in `UpdateMapSkill` to simplify the addition of entities to the semantic map. - Updated the build script to enhance environment setup and package building process.
- Added detailed response format to the daemon commands, including process IDs and group information for better tracking of running processes. - Introduced a spinner for animated progress indication in CLI commands, enhancing user experience during start/stop operations. - Updated README with additional build instructions and usage examples for the new daemon features. - Refactored command execution methods to utilize the new response structure, providing clearer feedback on process management actions.
- Introduced a new task management system to handle task lifecycle, including creation, retrieval, listing, and cancellation of tasks. - Added DSL generation capabilities to convert natural language input into executable DSL code using AI models. - Implemented a skill executor to execute DSL instructions, enhancing the system's ability to perform tasks based on generated DSL. - Refactored the planning module to integrate task management and DSL generation, improving overall workflow efficiency. - Updated the README with detailed instructions on the new task management features and usage examples.
- Changed section title from "完整工作流程" to "workflow" for consistency. - Removed outdated code examples related to adding entities to the semantic map and querying capabilities, streamlining the documentation. - Enhanced clarity of the workflow description and updated related instructions to reflect recent changes in the system.
- Deleted the fast.xml file from the Docker shared directory, which contained outdated transport and participant configurations for the Tailscale transport.
- Introduced a new service and primitive abstraction layer to standardize hardware capability mapping and management. - Added support for registering and querying primitives and services, enhancing the system's modularity and flexibility. - Updated the README to reflect the new architecture and provide usage examples for the service and primitive functionalities. - Refactored existing code to integrate the new modules, improving overall system organization and maintainability. - Removed obsolete files and services to streamline the codebase and reduce complexity.
- Introduced a sample Docker environment configuration file to streamline the setup process for users. - Added new RTDL files for the `update_map` skill and several EAIOS spec services, including `QueryPrimitive`, `QueryService`, `QuerySkill`, `RegisterPrimitive`, `RegisterService`, `SubmitTask`, `TaskResult`, and `TaskStatus`. - These additions enhance the modularity and functionality of the Robonix framework, providing a clearer structure for service and skill definitions.
- Deleted several service definition files including `QueryPrimitive`, `QueryService`, `QuerySkill`, `RegisterPrimitive`, `RegisterService`, `SubmitTask`, `TaskResult`, and `TaskStatus` to streamline the codebase and eliminate outdated components.
- Updated documentation and scripts to reflect the renaming of `robonix-msg` to `robonix-sdk`, including changes in build instructions and configuration paths. - Enhanced the package specification to include versioning for primitives and services, allowing for better management of multiple implementations. - Introduced new service and message definitions in the `robonix-sdk`, streamlining the integration of skills and primitives. - Removed obsolete `robonix-msg` files and updated references throughout the codebase to ensure consistency with the new architecture. - Improved error handling and logging in the client library to enhance user experience and debugging capabilities.
- Introduced new message types: `PrimitiveInstance`, `ServiceInstance`, and `SkillInstance` to facilitate communication within the Robonix framework. - Added service definitions for `RegisterPrimitive`, `RegisterService`, and `RegisterSkill`, enhancing the ability to register and manage primitives and services. - Created a Python client library (`robonixpy`) to provide a high-level interface for interacting with Robonix services, including methods for querying and registering primitives and skills. - Established a CMake configuration for building the package and managing dependencies, ensuring a streamlined build process.
- Deleted the CMake configuration file and several message files including `PrimitiveInstance.msg`, `ServiceInstance.msg`, and `SkillInstance.msg`, as well as service definitions for `RegisterPrimitive`, `RegisterService`, and `RegisterSkill`. - Removed the Python client library files to streamline the codebase and eliminate outdated components, ensuring a cleaner architecture moving forward.
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Pull request overview
This PR implements a comprehensive Rust-based robonix system according to the EAIOS whitepaper, introducing a core service registry, CLI tooling, package management, and ROS2 integration through RustDDS.
Key changes:
- Implements robonix-core with primitive, service, skill, and task management APIs
- Adds robonix-cli for package lifecycle management (install, register, deploy, start/stop)
- Integrates robonix-sdk with ROS2 message definitions and Python client library
- Provides process management with daemon-based execution and logging
Reviewed changes
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Show a summary per file
| File | Description |
|---|---|
| rust/robonix-core/Cargo.toml | Defines dependencies for the core system with ros2-client and async runtime |
| rust/robonix-core/src/main.rs | Entry point creating ROS2 service servers for primitive/service/skill/task APIs |
| rust/robonix-core/src/core.rs | Coordinates all robonix modules (task manager, skill library, registries) |
| rust/robonix-core/src/spec.rs | Defines specifications and validation for primitives and services |
| rust/robonix-core/src/specs_table.rs | Loads standard primitive and service specifications |
| rust/robonix-core/src/primitive/primitive.rs | Handles primitive registration and querying with schema validation |
| rust/robonix-core/src/service/service.rs | Manages service registration and discovery |
| rust/robonix-core/src/skill_library/skill.rs | Implements skill registration supporting basic and RTDL types |
| rust/robonix-core/src/task_manager/task.rs | Task lifecycle management with state tracking |
| rust/robonix-cli/src/main.rs | CLI entry point with database sync on startup |
| rust/robonix-cli/src/daemon.rs | Unix socket-based daemon for process management |
| rust/robonix-cli/src/process.rs | Process group management with tree tracking and logging |
| rust/robonix-cli/src/register.rs | Registers primitives/services/skills from recipe with ROS2 core |
| rust/robonix-cli/src/install.rs | Installs packages from GitHub or local paths |
| rust/robonix-sdk/build_ros2.sh | Builds ROS2 interface package with system Python |
| rust/robonix-sdk/CMakeLists.txt | Generates ROS2 interfaces from msg/srv definitions |
| rust/robonix-sdk/robonixpy/client.py | Thread-safe Python client for robonix core services |
Comments suppressed due to low confidence (5)
rust/robonix-core/src/main.rs:1
- The process name defaults to "eaios-core" but the binary is named "robonix-core". Update the default to "robonix-core" for consistency.
rust/robonix-core/src/core.rs:1 - The variable
task_manageris declared as mutable but never mutated. Remove themutkeyword.
rust/robonix-sdk/robonixpy/client.py:1 - Explicit type annotations for
client_guardare unnecessary and reduce readability. The type can be inferred by the compiler.
rust/robonix-cli/src/register.rs:1 - The
input_schema_stris extracted twice (lines 232-234 and 236-238). Remove the duplicate extraction on lines 236-238.
rust/robonix-cli/src/process.rs:1 - The variable
is_new_lineis set to true but then immediately set to true again at line 396 without being used between. The logic should check if a line was written before setting it back to true.
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…ROS2 dev container
- Introduced a new Ping Pong service with request and response message definitions for testing. - Implemented two high-intensity load testing clients (`ping_client_1.py` and `ping_client_2.py`) to evaluate concurrent access to the Ping Pong service. - Added a README for the service load test, detailing usage instructions and expected behavior. - Created a script (`run_test.sh`) to facilitate simultaneous execution of both test clients.
…uctions - Deleted the `env.example` file to streamline the configuration process. - Updated the README to reflect changes in the usage of the .env file and removed outdated credential examples for GitHub Container Registry.
- Removed detailed manual setup steps and Docker instructions from the main README to simplify the quick start guide. - Updated the README to direct users to the `rust/README.md` for comprehensive setup instructions.
… and related modules - Enhanced error messages for socket directory creation and connection failures in `daemon_client.rs`. - Improved code formatting for better readability across multiple files, including `daemon.rs`, `process.rs`, and various command modules. - Streamlined the handling of command responses and improved the structure of async functions in the command modules. - Removed unnecessary whitespace and ensured consistent formatting in several files to maintain code quality.
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see issue #8 and whitepaper for API and design details
features: