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#
<p align="center">
<img src="./docs/src/logo.svg" width="400">
<img src="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/logo.svg" width="400"/>
</p>

<h2 align="center">
<a href="https://www.dora-rs.ai">Website</a>
|
<a href="https://www.dora-rs.ai/docs/api/python-api">Python API</a>
-
|
<a href="https://docs.rs/dora-node-api/latest/dora_node_api/">Rust API</a>
|
<a href="https://www.dora-rs.ai/docs/guides/">Guide</a>
@@ -29,174 +30,155 @@
</a>
</div>

---
An extremely fast and simple **dataflow oriented robotic** framework to manage your projects and run complex **apps**, written in Rust.

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/bar_chart_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/bar_chart_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/bar_chart_light.svg">
</picture>
</p>

<p align="center">
<i>Latency benchmark with Python API for both framework, sending 40M of random bytes.</i>
</p>

# What is dora-rs?
## Highlights

Dataflow-Oriented Robotic Architecture (dora-rs) is a framework that makes creation of robotic applications fast and simple.
- 🚀 A single CLI to launch your Python and Rust robotic projects.
- ⚡️ [10-17x faster](https://github.com/dora-rs/dora-benchmark/README.md) than `ros2`.
- 🐍 Easy and Fast prototyping with a clean [Python API](https://www.dora-rs.ai/docs/api/python-api).
- 🖥️ Supports macOS, Linux, and Windows.
- ⏬ Installable without Rust via `curl` or `powershell`.
- ❇️ Includes a large set of pre-packaged nodes for fast prototyping.
- 🛠️ Build and Run applications **without compilation step** beyond the native compiler of your favourite language.
- 🤖 Simplifies building robotic applications by integrating hardware, algorithms, and AI models to facilitate seamless communication.
- ⚙️ Eases integration of hardware and software by supporting Python, C, C++, and ROS2, while ensuring low-latency communication with zero-copy Arrow messages.

Building a robotic application can be summed up as bringing together hardwares, algorithms, and AI models, and make them communicate with each others. At dora-rs, we try to:
`dora-rs` is backed by [1ms.ai](https://1ms.ai).

- make integration of hardware and software easy by supporting Python, C, C++, and also ROS2.
- make communication low latency by using zero-copy Arrow messages.
## Installation

Install dora with our standalone installers, or from [crates.io](https://crates.io/crates/dora-cli):

### On macOS and Linux
```bash
curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash
```

dora-rs is still experimental and you might experience bugs, but we're working very hard to make it stable as possible.
### On Windows
```powershell
powershell -c "irm https://raw.githubusercontent.com/dora-rs/dora/main/install.ps1 | iex"
```

## Performance
### With cargo
```bash
cargo install dora-cli
```

## Documentation

The full documentation is available on [our website](https://www.dora-rs.ai/docs).
A lot of guides are available on [this section](https://dora-rs.ai/docs/guides/) of our website.

## Getting Started

1. Run the benchmark example (Rust must be installed):

```bash
git clone https://github.com/dora-rs/dora
cd dora
cargo run --example benchmark --release
```

2. Run some Python examples (A venv must be activated):

```bash
# activate your venv here
cd dora/examples/python-dataflow
dora up
dora build dataflow.yml
dora start dataflow.yml
```

dora-rs can show impressive performance, up to 17x faster compared to current status quo ROS2 in Python! This is the result of using our own shared memory server and Apache Arrow to achieve zero copy data passing.
> Make sure to have a webcam

<a href="https://www.dora-rs.ai/">
<img src="./docs/src/latency.png" align="center" width="600">
</a>
To stop your dataflow, you can use <kbd>ctrl</kbd>+<kbd>c</kbd>

> See: https://github.com/dora-rs/dora-benchmark/tree/main for reproduction.
## What is Dora? And what features does Dora offer?

## Dataflow Paradigm
**D**ataflow-**O**riented **R**obotic **A**rchitecture (`dora-rs`) is a framework that makes creation of robotic applications fast and simple.

dora-rs implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.
`dora-rs` implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.

Each node defines its inputs and outputs to connect with other nodes.

```yaml
nodes:
- id: camera
build: pip install ../../node-hub/opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/20
outputs:
- image
env:
CAPTURE_PATH: 0
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480

- id: object-detection
build: pip install ../../node-hub/dora-yolo
path: dora-yolo
inputs:
image:
source: camera/image
queue_size: 1
outputs:
- bbox
env:
MODEL: yolov8n.pt

-
- id: plot
build: pip install ../../node-hub/opencv-plot
path: opencv-plot
inputs:
image:
source: camera/image
queue_size: 1
bbox: object-detection/bbox
image: camera/image
```

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.

<a href="https://www.dora-rs.ai/">
<img src="https://raw.githubusercontent.com/dora-rs/dora-rs.github.io/main/static/img/overview.svg" align="center" width="600">
</a>
<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/dora_diag_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/dora_diag_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/dora_diag_light.svg">
</picture>
</p>

---

## Communication
It offers several features, such as:

### TCP Communication and Shared Memory

Communication between nodes is handled with shared memory on a same machine and TCP on distributed machines. Our shared memory implementation tracks messages across processes and discards them when obsolete. Shared memory slots are cached to avoid new memory allocation.

## Message Format
### Arrow Message Format

Nodes communicate with Apache Arrow Data Format.

[Apache Arrow](https://github.com/apache/arrow-rs) is a universal memory format for flat and hierarchical data. The Arrow memory format supports zero-copy reads for lightning-fast data access without serialization overhead. It defines a C data interface without any build-time or link-time dependency requirement, that means that dora-rs has **no compilation step** beyond the native compiler of your favourite language.

<img align="center" src="https://github.com/dora-rs/dora-rs.github.io/blob/main/static/img/arrow.png?raw=true" width="600">
[Apache Arrow](https://github.com/apache/arrow-rs) is a universal memory format for flat and hierarchical data. The Arrow memory format supports zero-copy reads for lightning-fast data access without serialization overhead. It defines a C data interface without any build-time or link-time dependency requirement, that means that `dora-rs` has **no compilation step** beyond the native compiler of your favourite language.

## Opentelemetry
### Opentelemetry

dora-rs uses Opentelemetry to record all your logs, metrics and traces. This means that the data and telemetry can be linked using a shared abstraction.

[Opentelemetry](https://opentelemetry.io/) is an open source observability standard that makes dora-rs telemetry collectable by most backends such as elasticsearch, prometheus, Datadog..
[Opentelemetry](https://opentelemetry.io/) is an open source observability standard that makes dora-rs telemetry collectable by most backends such as elasticsearch, prometheus, Datadog...

Opentelemetry is language independent, backend agnostic, and easily collect distributed data, making it perfect for dora-rs applications.

<img src="https://github.com/dora-rs/dora-rs.github.io/blob/main/static/img/opentelemetry.png?raw=true" align="center" width="600">

## Hot-Reloading
### Hot-Reloading

dora-rs implements Hot-Reloading for python which means you can change code at runtime in Python while keeping your state intact.

Using the feature flag: `--attach --hot-reload`, dora-rs watch for code change and reload nodes that has been modified.
You can check fail-safe mechanism at: https://github.com/dora-rs/dora/pull/239

<a href="http://www.youtube.com/watch?v=NvvTEP8Jak8">
<img align="center" width="600" alt="demo" src=http://img.youtube.com/vi/NvvTEP8Jak8/0.jpg>
</a>

## Self-Coding Robot: Code RAG (WIP)

You can easily create a self-coding robot, by combining Hot-reloading with a Retrieval Augmented Generation (RAG) that is going to generate code modification from your prompt.
See:[examples/python-operator-dataflow](examples/python-operator-dataflow)

<img src="https://github.com/dora-rs/dora-rs.github.io/blob/main/static/img/RAG.svg?raw=true" align="center" width="600">

Self-Coding Robot is just the tip of the iceberg of robotics combined with llm, that we hope to power. There is so much more that we haven't explored yet like:

- [self-debugging](https://arxiv.org/pdf/2304.05128.pdf)
- [memory](https://github.com/cpacker/MemGPT)
- [function calling](https://github.com/ShishirPatil/gorilla)
- ...

## Installation

Quickest way:

```bash
cargo install dora-cli --locked

dora --help
```

On Unix system, you can install dora without cargo with:

```bash
curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash

dora --help
```

For more info on installation, check out [our guide](https://www.dora-rs.ai/docs/guides/Installation/installing).

## Getting Started
You can check fail-safe mechanism at: https://github.com/dora-rs/dora/pull/239.

1. Run the example:
See [this demo](http://www.youtube.com/watch?v=NvvTEP8Jak8).

```bash
git clone https://github.com/dora-rs/dora
cd examples/python-dataflow
dora build dataflow.yml
```
### ROS2 Bridge

2. Get some example operators:

```bash
dora up
dora start dataflow.yml
```

> Make sure to have a webcam

To stop your dataflow, you can use <kbd>ctrl</kbd>+<kbd>c</kbd>

To go further, you can add a yolov8 operator, check out our getting started here: https://www.dora-rs.ai/docs/guides/getting-started/yolov8/

## ROS2 Bridge
**Note**: this feature is marked as unstable.

- Compilation Free Message passing to ROS 2
- Automatic conversion ROS 2 Message <-> Arrow Array

```python
import random
import pyarrow as pa

# Configuration Boilerplate...
@@ -218,7 +200,28 @@ turtle_twist_writer.publish(message)

> You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15

## Hardwares
## Showcases

### Self-Coding Robot: Code RAG (WIP)

You can easily create a self-coding robot, by combining Hot-reloading with a Retrieval Augmented Generation (RAG) that is going to generate code modification from your prompt.
See:[examples/python-operator-dataflow](examples/python-operator-dataflow)

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/self_coding_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/self_coding_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/improve-beginner-exp/docs/src/self_coding_light.svg">
</picture>
</p>

Self-Coding Robot is just the tip of the iceberg of robotics combined with llm, that we hope to power. There is so much more that we haven't explored yet like:

- [self-debugging](https://arxiv.org/pdf/2304.05128.pdf)
- [memory](https://github.com/cpacker/MemGPT)
- [function calling](https://github.com/ShishirPatil/gorilla)

### Cool Hardwares

Cool hardware that we think might be good fit to try out dora-rs 🙋 We are not sponsored by manufacturers:

@@ -235,23 +238,8 @@ Cool hardware that we think might be good fit to try out dora-rs 🙋 We are not

> For more: https://docs.google.com/spreadsheets/d/1YYeW2jfOIWDVgdEgqnMvltonHquQ7K8OZCrnJRELL6o/edit#gid=0

## Documentation

The full documentation is available on [our website](https://www.dora-rs.ai)

## Discussions

Our main communication channels are:

- [Our Discord server](https://discord.gg/6eMGGutkfE)
- [Our Github Project Discussion](https://github.com/orgs/dora-rs/discussions)

Feel free to reach out on any topic, issues or ideas.

We also have [a contributing guide](CONTRIBUTING.md).

## Support Matrix

| | dora-rs | Hoped for |
| --------------------------------- | --------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
| **Tier 1 Support** | Python, Rust | C, C++, ROS 2 |
@@ -259,7 +247,7 @@ We also have [a contributing guide](CONTRIBUTING.md).
| **Hot-reloading** | Python | Rust (https://github.com/orgs/dora-rs/discussions/360) |
| **Message Format** | Arrow | Native |
| **Local Communication** | Shared Memory | Custom Middleware, [zero-copy GPU IPC](https://arrow.apache.org/docs/python/api/cuda.html), intra-process `tokio::channel` communication |
| **Remote Communication** | TCP (See: https://github.com/dora-rs/dora/issues/459) | Custom Middleware, [Zenoh](https://zenoh.io/) |
| **Remote Communication** | TCP | Custom Middleware, [Zenoh](https://zenoh.io/) |
| **Metrics, Tracing, and Logging** | Opentelemetry | Native logging libraries into Opentelemetry |
| **Data archives** | Parquet ([dora-record](libraries/extensions/dora-record)) |
| **Visualization and annotation** | OpenCV | [rerun.io](rerun.io) |
@@ -267,20 +255,22 @@ We also have [a contributing guide](CONTRIBUTING.md).
| **Supported Platforms (ARM)** | macOS, Linux |
| **Configuration** | YAML |

### Unstable functionality
## Contributing

`dora-rs` Ros2 Bridge is marked as **unstable**.
There are a number of reasons functionality may be marked as unstable:
We are passionate about supporting contributors of all levels of experience and would love to see
you get involved in the project. See the
[contributing guide](https://github.com/dora-rs/dora/blob/main/CONTRIBUTING.md) to get started.

- We are unsure about the exact API. The name, function signature, or implementation are likely to change in the future.
- The functionality is not tested extensively yet. Bugs may pop up when used in real-world scenarios.
- The functionality does not integrate well with the full dora-rs API. You may find it works in one context but not in another.
## Discussions

Releasing functionality as unstable allows us to gather important feedback from users that use dora-rs in real-world scenarios.
This helps us fine-tune things before giving it the final stamp of approval.
Users are only interested in solid, well-tested functionality can avoid this part of the API.
Our main communication channels are:

- [Our Discord server](https://discord.gg/6eMGGutkfE)
- [Our Github Project Discussion](https://github.com/orgs/dora-rs/discussions)

Functionality marked as unstable may change at any point without it being considered a breaking change.
Feel free to reach out on any topic, issues or ideas.

We also have [a contributing guide](CONTRIBUTING.md).

## License



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