dataflow.yml

@@ -1,19 +1,37 @@
+# The repository's own example: builds and runs the node from this checkout, so
+# `dora validate` picks up the typed contract in dora-node.yml next to it.
+# A consumer wires the node from a tag instead — see README.md.
+#
+# Run it with `--uv` so every Python node gets its own managed environment.
+#
+# `examples/caller.py` shows the whole convention: a non-blocking motion
+# answered at once, its progress followed on `motion_state`, and a second motion
+# preempting the first.
+strict_types: true
+
 nodes:
   - id: ulite6
-    build: uv pip install -e .
+    path: dora-ulite6
-    path: dora_ulite6/main.py
+    build: pip install .
     inputs:
-      tick: dora/timer/millis/10
+      tick: dora/timer/millis/100
+      request: caller/request
     outputs:
-      - status
+      - response
+      - motion_state
       - joint_pose
       - tcp_pose
+      - robot_state
     env:
       ROBOT_IP: "192.168.1.192"
-      DEFAULT_SPEED: "30"
-      DEFAULT_UNITS: "mm"
-      API_HOST: "0.0.0.0"
-      API_PORT: "9000"
-      VACUUM_ENABLED: "true"
       TOOL_TYPE: "vacuum"
-      TOOL_OFFSET_MM: "0.0"
+      INIT_MODE: "none"
+
+  - id: caller
+    path: examples/caller.py
+    inputs:
+      tick: dora/timer/millis/500
+      response: ulite6/response
+      motion_state: ulite6/motion_state
+    outputs:
+      - request

dora-node.yml

@@ -0,0 +1,128 @@
+# Node manifest: the typed contract a consumer wires against.
+#
+# No source package is shared between node repositories, so this file and its
+# type URNs are the only contract a consumer has. `dora validate` checks a
+# dataflow against it without running the node, so CI needs no robot.
+#
+# The `request` and `response` ports are deliberately **untyped**. They carry
+# dora's pattern-correlation metadata (`request_id`), and dora defines that as
+# the marker for a port where several Arrow schemas legitimately flow — one per
+# service — distinguished by metadata rather than by a fixed Arrow type. The
+# runtime skips type checks on such messages, so annotating them would claim a
+# contract neither side keeps.
+apiVersion: 1
+name: dora-ulite6
+namespace: liria
+description: UFactory Lite6 arm node serving motion and control services, and publishing joint and tool pose
+categories: [robot, actuator]
+keywords: [ufactory, lite6, xarm, robot-arm, manipulator, service, vacuum, gripper]
+
+runtime: python
+entrypoint: dora-ulite6
+# `dora build --uv` / `dora run --uv` rewrites this to `uv pip install .` and
+# gives the node its own managed venv under `.dora/python-envs/`, so the
+# dependencies it sees at runtime are the ones installed here.
+build: pip install .
+dora: ">=1.0"
+
+inputs:
+  tick:
+    type: std/core/v1/UInt64
+    required: true
+    description: >-
+      Each tick publishes whatever the arm threads produced since the last one.
+      It does not drive the arm — the tick rate is the publication rate, and
+      TELEMETRY_INTERVAL_MS is how often the arm is actually read. Connect to
+      dora/timer/millis/N.
+  request:
+    required: true
+    description: >-
+      A service request: a one-row struct {service, ...arguments}, with the
+      caller's `request_id` in the metadata. Services: move_to, move_joints,
+      home, home_and_clear, clear, recover, stop, freedrive, grasp, release,
+      get_state. Answered on `response` under the same request_id, exactly once.
+      A motion takes `wait`: true (the default) holds the caller until the arm
+      stops; false answers at once with an acknowledgement and reports the rest
+      on `motion_state`.
+  jog:
+    required: false
+    description: >-
+      A continuous velocity command: a one-row struct {velocity} of 6 numbers
+      [vx, vy, vz, wx, wy, wz] in mm/s and deg/s. A topic rather than a service
+      because it expires on the controller's own TTL and a sender must keep
+      sending; nothing is published in answer. It drives the arm, so the first
+      non-zero one preempts a motion in play and robot_state turns to moving.
+
+outputs:
+  response:
+    description: >-
+      The answer to one service request, under its `request_id`: a struct
+      {ok, service, message, ...extras}. get_state adds connected, ready,
+      tool_engaged, freedrive, pose and joints. Exactly one response per
+      request, including for one that was refused or preempted.
+  motion_state:
+    description: >-
+      Where the current motion stands, published on every change: a struct
+      {request_id, service, state, message} with state one of accepted, moving,
+      done, failed, preempted. The request_id is in the fields rather than the
+      metadata because this is the arm's state, not an answer to a request. A
+      new motion preempts the one in play, so there is only ever one.
+  joint_pose:
+    type: std/core/v1/Float32
+    description: The six joint angles in degrees, base to wrist.
+  tcp_pose:
+    type: std/core/v1/Float32
+    description: >-
+      The mounted tool's tip as [x, y, z, roll, pitch, yaw] in mm and degrees,
+      in the robot base frame. With TOOL_TYPE none this is the flange itself.
+  robot_state:
+    type: std/core/v1/String
+    description: >-
+      One of connecting, ready, moving, recovering, unavailable. Published on
+      every change, never repeated.
+
+env:
+  ROBOT_IP:
+    type: string
+    description: Controller address. Defaults to 192.168.1.192.
+  TOOL_TYPE:
+    type: string
+    description: What is mounted at the flange - none, vacuum or gripper. Defaults to none.
+  TOOL_OFFSET_MM:
+    type: float
+    description: Extra reach past the flange, added to the mounted tool's own. Defaults to 0.
+  DEFAULT_SPEED:
+    type: float
+    description: Cartesian speed in mm/s for a move_to with no speed of its own. Defaults to 30.
+  DEFAULT_JOINT_SPEED:
+    type: float
+    description: Joint speed in deg/s for a move_joints with no speed of its own. Defaults to 20.
+  TELEMETRY_INTERVAL_MS:
+    type: int
+    description: >-
+      How often the reporter reads the arm, and so how often telemetry is
+      produced. Keeps running through a motion. Defaults to 100.
+  RECONNECT_INTERVAL_S:
+    type: float
+    description: How long to wait before trying an unreachable arm again. Defaults to 5.
+  INIT_MODE:
+    type: string
+    description: Where the arm goes on startup - none, home or pose. Defaults to none.
+
+example: |
+  - id: ulite6
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-ulite6.git
+    tag: v0.3.0
+    build: pip install .
+    path: dora-ulite6
+    inputs:
+      tick: dora/timer/millis/100
+      request: planner/request
+    outputs:
+      - response
+      - joint_pose
+      - tcp_pose
+      - robot_state
+    env:
+      ROBOT_IP: "192.168.1.192"
+      TOOL_TYPE: "vacuum"

examples/caller.py

@@ -0,0 +1,64 @@
+"""A minimal caller: what using the node's services looks like.
+
+Run by `dataflow.yml`. It sends a motion with `wait: false`, follows it on
+`motion_state`, and then sends a second one that preempts it. That is the whole
+convention:
+
+- a request carries a `request_id` you choose, and gets exactly one `response`
+  under that id — an acknowledgement when `wait` is false, the outcome when it
+  is true;
+- a motion's progress is on `motion_state`, keyed by the same request_id, so a
+  non-blocking caller can tell "mine has not started" from "mine has finished"
+  without a race;
+- a new motion replaces the one in play, because the arm is one resource.
+"""
+
+import pyarrow as pa
+from dora import Node
+
+
+def main() -> None:
+    """Send a non-blocking motion, follow it, preempt it, and exit."""
+    node = Node("caller")
+    sent_first = False
+    sent_second = False
+
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        if event["id"] == "tick" and not sent_first:
+            sent_first = True
+            _move(node, "move-1", z=200.0)
+
+        elif event["id"] == "response":
+            row = event["value"][0].as_py()
+            print(
+                f"response to {event['metadata'].get('request_id')}: "
+                f"ok={row['ok']} {row['message']}",
+                flush=True,
+            )
+
+        elif event["id"] == "motion_state":
+            row = event["value"][0].as_py()
+            print(f"{row['request_id']} is {row['state']}", flush=True)
+
+            # Once the first one is really under way, change our mind.
+            if row["request_id"] == "move-1" and row["state"] == "moving" and not sent_second:
+                sent_second = True
+                _move(node, "move-2", z=120.0)
+            elif row["request_id"] == "move-2" and row["state"] in ("done", "failed"):
+                break
+
+
+def _move(node: Node, request_id: str, z: float) -> None:
+    """Ask for a move and come straight back, rather than waiting it out."""
+    node.send_output(
+        "request",
+        pa.array([{"service": "move_to", "x": 250.0, "y": 0.0, "z": z, "wait": False}]),
+        metadata={"request_id": request_id},
+    )
+
+
+if __name__ == "__main__":
+    main()

examples/dora-node.yml

@@ -0,0 +1,30 @@
+# Manifest for the example caller, so `dora validate` matches it against this
+# node rather than against the arm node's manifest at the repository root —
+# dora resolves a node's manifest from its path, and without this the caller
+# would be checked against an entrypoint it does not have.
+apiVersion: 1
+name: caller
+namespace: liria
+description: Example caller showing a non-blocking motion followed on motion_state, then preempted
+categories: [debug]
+
+runtime: python
+# Resolved against this manifest's own directory: <manifest dir>/<entrypoint>
+# must name the same file as the dataflow's `path:`.
+entrypoint: caller.py
+
+inputs:
+  tick:
+    type: std/core/v1/UInt64
+    required: true
+    description: Sends the first motion on the first tick.
+  response:
+    required: true
+    description: The answer to a request, under its request_id.
+  motion_state:
+    required: true
+    description: Where the current motion stands, which is how a non-blocking caller follows it.
+
+outputs:
+  request:
+    description: A service request, carrying a request_id in its metadata.