rfabric-control-wire 0.1.0

Wire format primitives for the rFabric realtime control bridge (UDS/CBOR Frame envelope + payload constants)

rfabric-control-wire

Wire-format primitives shared between every Python consumer of the rFabric realtime control bridge.

The Rust agent (rfabric-agent) terminates the operator-side WebRTC data channel and forwards length-prefixed CBOR Frames onto a Unix-domain socket. This package owns the Python side of that contract:

• Frame, read_frame, write_frame — length-prefixed CBOR framing.
• CONTROL_KIND / STATE_KIND / MODE_KIND / ACK_KIND — frame envelope kinds.
• PAYLOAD_* constants and lightweight payload dataclasses (JointTargetsPayload, JointDeltasPayload, JointVelocityPayload, EndEffectorPayload, StopPayload, HomePayload) — the discriminated set of payload.kind values an operator may send.

Consumers today: the lerobot teleoperator (rfabric_remote) and the standalone YAM bridge (rfabric-yam-bridge). Anything else that wants to implement a follower binds the same UDS, accepts the same frames, and uses this package to decode them.

Wire envelope

Each frame on the wire is

[ u32 little-endian length ][ CBOR-encoded Frame map ]

where the CBOR map carries kind, seq, tsNs, and payload. The same shape is emitted by agent-src/src/media/envelope.rs and app/src/frontend/components/intervention/envelope.ts — so this package is the canonical Python mirror of that single contract.