asimov-protocol

The wire contract of the Asimov robot, as generated Python protobuf bindings: the RobotCommand a controller sends, the RobotState the robot reports, and the messages around them. Every Menlo component that talks to the robot imports this package, so one process holds one set of descriptors.

pip install asimov-protocol

from asimov_protocol.v1 import asimov_command_pb2, asimov_common_pb2, asimov_state_pb2

cmd = asimov_command_pb2.RobotCommand()
cmd.mode = asimov_common_pb2.CONTROL_MODE_MOVE
payload = cmd.SerializeToString()

state = asimov_state_pb2.RobotState()
state.ParseFromString(payload_from_the_robot)

Use generated symbolic IDs when producing alerts. Look up display text without copying or rewriting the protobuf alert received from Firmware:

from typing import cast

from asimov_protocol import AlertId, get_alert_definition

assert AlertId.BMS_LOW_SOC == 27

alert = robot_state.active_alerts[0]
print(alert.severity, get_alert_definition(cast(AlertId, alert.id)))

Decode the firmware's critical-only sticky safety-fault word separately:

from asimov_protocol import get_error_report

report = get_error_report(robot_state.error_flags)
for fault in report.faults:
    print(fault.alert_id, fault.description)

SafetyFault.alert_id is None only when an unexpected or future error_flags bit has no critical alert mapping. Warning and info alerts are reported through active_alerts, not through the sticky safety word.

Ships .pyi stubs + py.typed (mypy/pyright work out of the box). The protobuf dependency floor tracks the generator version pinned in buf.gen.yaml (repo root) — bump both together.

Versioning

• MAJOR follows the wire directory: 1.x is asimov_protocol.v1. A breaking wire change is a new v2/ and a 2.0, never an edit to v1/.
• MINOR is an additive schema change (a new field, message or enum value); PATCH is regenerated code or packaging with no schema change.
• Pin asimov-protocol>=1.2,<2 and you get every compatible release of the wire you speak.

Pre-releases use PEP 440 spelling (1.3.0rc1) and install only with pip install --pre or an explicit pin.

Modules

Source

Generated from the .proto files in menloresearch/asimov-protocol by that repository's toolchain; do not edit the installed modules. Higher-level Python clients: menlo-sdk drives the robot, menlo-robot-sdk talks to the Robot Control Service.

MIT.