hydrowire 0.0.9

Python library for applications to interact with ROV (Remotely Operated Vehicle) systems over WebSocket

HydroWire

A Python library for applications to interact with HydroWire devices (ROV / robot peripherals) over WebSocket.

Installation

From PyPI (Recommended)

pip install hydrowire

From Source (Development)

git clone https://github.com/yourusername/hydrowire.git
cd hydrowire
pip install -e .

Features

• 🔌 WebSocket Communication: Send JSON commands to ROV devices
• 🎯 Device Targeting: Route commands to specific devices using device IDs
• ⚙️ Async-First Design: Built on asyncio for efficient concurrent operations
• 🎨 GUI Ready: Framework for integrating graphical interfaces
• 📦 Library-First: Designed to be embedded in main applications

Installation

pip install -r requirements.txt

For development:

pip install -r dev-requirements.txt

Quick Start

Basic Usage

import asyncio
from hydrowire import HydroWireManager as ROVManager

async def main():
    # Initialize manager
    manager = ROVManager("ws://localhost:8000")
    
    # Start communication
    await manager.start()
    
    try:
        # Send a command to a device
        response = await manager.send_command(
            device_id="arm_1",
            command={"action": "move", "position": 45},
            expect_response=True
        )
        print(response)
    finally:
        await manager.close()

asyncio.run(main())

Using the Global Start Function

import asyncio
from hydrowire import start

async def main():
    # Quick start with convenience function
    manager = await start("ws://localhost:8000")
    
    try:
        await manager.send_command(
            device_id="camera_main",
            command={"action": "capture"}
        )
    finally:
        await manager.close()

asyncio.run(main())

API Reference

ROVManager

The main class for interacting with ROV systems.

Initialization

manager = ROVManager(rov_uri, timeout=10.0)

• rov_uri (str): WebSocket URI for ROV (e.g., ws://localhost:8000)
• timeout (float): Command timeout in seconds (default: 10.0)

Methods

async initialize(): Initialize connection to ROV

async start(gui_enabled=False, **gui_config): Start the ROV manager and optionally launch GUI

async send_command(device_id, command, expect_response=False): Send a command to a device

• device_id (str): Target device identifier (e.g., "arm_1", "camera_main")
• command (dict): Command object with action and parameters
• expect_response (bool): Wait for response if True
• Returns: Response dict if expect_response=True, otherwise None

async close(): Close ROV connection

async run(gui_enabled=False, **gui_config): Run manager in blocking mode

attach_gui(gui_app): Attach GUI application instance

register_command_handler(command_type, handler): Register custom command handler

Global Functions

async start(rov_uri, gui_enabled=False, **gui_config): Convenience function to create and start a manager

async get_manager(): Get the global manager instance

Command Structure

Commands are sent with a structured format where parameters are grouped under a params key:

Your code:

await manager.send_command(
    device_id="led",
    command={"action": "pwm", "duty_cycle": 0.5, "enable": true}
)

What gets sent over WebSocket:

{
  "device": "led",
  "cmd": "pwm",
  "params": {
    "duty_cycle": 0.5,
    "enable": true
  }
}

This structured format makes it easy for the ROV backend to:

• Route commands to the correct device
• Access the command type directly
• Parse all parameters from a single params object

Running Tests

pytest tests/ -v

Examples

See the examples/ directory for more detailed usage patterns.

Architecture

• rov_lib/client.py: Low-level WebSocket client
• rov_lib/manager.py: High-level manager with device routing
• rov_lib/__init__.py: Package exports

Future Enhancements

• GUI framework integration
• Device discovery and management
• Command queuing and priority
• Connection recovery and reconnection
• Telemetry and logging

License

(To be determined)