Bump dora v0.3.11 (#948)

.github/workflows/node_hub_test.sh

@@ -27,7 +27,7 @@ else
         cargo test
 
         pip install "maturin[zig]"
-        maturin build --zig 
+        maturin build --release
         # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel on multiple platforms
         if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
             # Free up ubuntu space
@@ -36,7 +36,7 @@ else
             sudo rm -rf /usr/share/dotnet/
             sudo rm -rf /opt/ghc/
 
-            maturin publish --skip-existing --zig
+            maturin publish --skip-existing
             # aarch64-unknown-linux-gnu
             rustup target add aarch64-unknown-linux-gnu
             maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig
@@ -53,21 +53,20 @@ else
         fi
 
     elif [[ -f "Cargo.toml" && -f "pyproject.toml" &&  "$(uname)" = "Darwin" ]]; then
-        # x86_64-apple-darwin
         pip install "maturin[zig]"
-        rustup target add x86_64-apple-darwin
-        maturin build --target x86_64-apple-darwin --zig  --release
+        # aarch64-apple-darwin
+        maturin build  --release
         # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
         if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
-            maturin publish --target x86_64-apple-darwin --skip-existing --zig
+            maturin publish --skip-existing
         fi
-
-        # aarch64-apple-darwin
-        rustup target add aarch64-apple-darwin
-        maturin build --target aarch64-apple-darwin --zig  --release
+        
+        # x86_64-apple-darwin
+        rustup target add x86_64-apple-darwin
+        maturin build --target x86_64-apple-darwin --zig  --release
         # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
         if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
-            maturin publish --target aarch64-apple-darwin --skip-existing --zig
+            maturin publish --target x86_64-apple-darwin --skip-existing --zig
         fi
 
     else
@@ -96,6 +95,7 @@ else
                 uv run pytest
             fi
             if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+                uv build
                 uv publish --check-url https://pypi.org/simple
             fi
             fi

Cargo.lock

@@ -1481,7 +1481,7 @@ dependencies = [
 
 [[package]]
 name = "benchmark-example-node"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -1494,7 +1494,7 @@ dependencies = [
 
 [[package]]
 name = "benchmark-example-sink"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -2267,7 +2267,7 @@ dependencies = [
 
 [[package]]
 name = "communication-layer-pub-sub"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "flume 0.10.14",
  "zenoh 0.7.0-rc",
@@ -2275,7 +2275,7 @@ dependencies = [
 
 [[package]]
 name = "communication-layer-request-reply"
-version = "0.3.10"
+version = "0.3.11"
 
 [[package]]
 name = "concurrent-queue"
@@ -3052,7 +3052,7 @@ dependencies = [
 
 [[package]]
 name = "dora-arrow-convert"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow 54.2.1",
  "chrono",
@@ -3063,7 +3063,7 @@ dependencies = [
 
 [[package]]
 name = "dora-cli"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "bat",
  "clap 4.5.32",
@@ -3102,7 +3102,7 @@ dependencies = [
 
 [[package]]
 name = "dora-coordinator"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "ctrlc",
  "dora-core",
@@ -3123,7 +3123,7 @@ dependencies = [
 
 [[package]]
 name = "dora-core"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-message",
  "eyre",
@@ -3142,7 +3142,7 @@ dependencies = [
 
 [[package]]
 name = "dora-daemon"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "aligned-vec",
  "async-trait",
@@ -3183,12 +3183,13 @@ dependencies = [
  "dora-node-api",
  "eyre",
  "log",
+ "pyo3",
  "structopt",
 ]
 
 [[package]]
 name = "dora-download"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "eyre",
  "reqwest 0.12.15",
@@ -3217,7 +3218,7 @@ dependencies = [
 
 [[package]]
 name = "dora-kit-car"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "dotenv",
@@ -3252,7 +3253,7 @@ dependencies = [
 
 [[package]]
 name = "dora-metrics"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "eyre",
  "opentelemetry 0.28.0",
@@ -3273,7 +3274,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "aligned-vec",
  "arrow 54.2.1",
@@ -3298,7 +3299,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-c"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow-array 54.2.1",
  "dora-node-api",
@@ -3308,7 +3309,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-cxx"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow 54.2.1",
  "cxx",
@@ -3326,7 +3327,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-python"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow 54.2.1",
  "dora-daemon",
@@ -3346,7 +3347,7 @@ dependencies = [
 
 [[package]]
 name = "dora-object-to-pose"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -3355,7 +3356,7 @@ dependencies = [
 
 [[package]]
 name = "dora-openai-proxy-server"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -3376,7 +3377,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-arrow-convert",
  "dora-operator-api-macros",
@@ -3385,14 +3386,14 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-c"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-operator-api-types",
 ]
 
 [[package]]
 name = "dora-operator-api-cxx"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "cxx",
  "cxx-build",
@@ -3401,7 +3402,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-macros"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3410,7 +3411,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-python"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "aligned-vec",
  "arrow 54.2.1",
@@ -3426,7 +3427,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-types"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow 54.2.1",
  "dora-arrow-convert",
@@ -3435,18 +3436,19 @@ dependencies = [
 
 [[package]]
 name = "dora-rav1e"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "bytemuck",
  "dora-node-api",
  "eyre",
  "log",
+ "pyo3",
  "rav1e",
 ]
 
 [[package]]
 name = "dora-record"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -3458,7 +3460,7 @@ dependencies = [
 
 [[package]]
 name = "dora-rerun"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "bytemuck",
  "chrono",
@@ -3473,7 +3475,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "array-init",
  "dora-daemon",
@@ -3496,7 +3498,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-msg-gen"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "anyhow",
  "glob",
@@ -3512,7 +3514,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-python"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "arrow 54.2.1",
  "dora-ros2-bridge",
@@ -3526,7 +3528,7 @@ dependencies = [
 
 [[package]]
 name = "dora-runtime"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "aligned-vec",
  "arrow 54.2.1",
@@ -3554,7 +3556,7 @@ dependencies = [
 
 [[package]]
 name = "dora-tracing"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "eyre",
  "opentelemetry 0.18.0",
@@ -7038,7 +7040,7 @@ dependencies = [
 
 [[package]]
 name = "multiple-daemons-example-node"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -7049,14 +7051,14 @@ dependencies = [
 
 [[package]]
 name = "multiple-daemons-example-operator"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-operator-api",
 ]
 
 [[package]]
 name = "multiple-daemons-example-sink"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11004,7 +11006,7 @@ checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430"
 
 [[package]]
 name = "receive_data"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -11473,7 +11475,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-node"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11484,7 +11486,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-sink"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11492,7 +11494,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-sink-dynamic"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11500,7 +11502,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-status-node"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11519,7 +11521,7 @@ dependencies = [
 
 [[package]]
 name = "rust-ros2-dataflow-example-node"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "dora-ros2-bridge",
@@ -12343,7 +12345,7 @@ dependencies = [
 
 [[package]]
 name = "shared-memory-server"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "bincode",
  "eyre",
@@ -13186,7 +13188,7 @@ dependencies = [
 
 [[package]]
 name = "terminal-print"
-version = "0.3.10"
+version = "0.3.11"
 dependencies = [
  "dora-node-api",
  "eyre",

Cargo.toml

@@ -49,33 +49,33 @@ members = [
 [workspace.package]
 edition = "2021"
 # Make sure to also bump `apis/node/python/__init__.py` version.
-version = "0.3.10"
+version = "0.3.11"
 description = "`dora` goal is to be a low latency, composable, and distributed data flow."
 documentation = "https://dora.carsmos.ai"
 license = "Apache-2.0"
 repository = "https://github.com/dora-rs/dora/"
 
 [workspace.dependencies]
-dora-node-api = { version = "0.3.10", path = "apis/rust/node", default-features = false }
-dora-node-api-python = { version = "0.3.10", path = "apis/python/node", default-features = false }
-dora-operator-api = { version = "0.3.10", path = "apis/rust/operator", default-features = false }
-dora-operator-api-macros = { version = "0.3.10", path = "apis/rust/operator/macros" }
-dora-operator-api-types = { version = "0.3.10", path = "apis/rust/operator/types" }
-dora-operator-api-python = { version = "0.3.10", path = "apis/python/operator" }
-dora-operator-api-c = { version = "0.3.10", path = "apis/c/operator" }
-dora-node-api-c = { version = "0.3.10", path = "apis/c/node" }
-dora-core = { version = "0.3.10", path = "libraries/core" }
-dora-arrow-convert = { version = "0.3.10", path = "libraries/arrow-convert" }
-dora-tracing = { version = "0.3.10", path = "libraries/extensions/telemetry/tracing" }
-dora-metrics = { version = "0.3.10", path = "libraries/extensions/telemetry/metrics" }
-dora-download = { version = "0.3.10", path = "libraries/extensions/download" }
-shared-memory-server = { version = "0.3.10", path = "libraries/shared-memory-server" }
-communication-layer-request-reply = { version = "0.3.10", path = "libraries/communication-layer/request-reply" }
-dora-runtime = { version = "0.3.10", path = "binaries/runtime" }
-dora-daemon = { version = "0.3.10", path = "binaries/daemon" }
-dora-coordinator = { version = "0.3.10", path = "binaries/coordinator" }
-dora-ros2-bridge = { version = "0.3.10", path = "libraries/extensions/ros2-bridge" }
-dora-ros2-bridge-msg-gen = { version = "0.3.10", path = "libraries/extensions/ros2-bridge/msg-gen" }
+dora-node-api = { version = "0.3.11", path = "apis/rust/node", default-features = false }
+dora-node-api-python = { version = "0.3.11", path = "apis/python/node", default-features = false }
+dora-operator-api = { version = "0.3.11", path = "apis/rust/operator", default-features = false }
+dora-operator-api-macros = { version = "0.3.11", path = "apis/rust/operator/macros" }
+dora-operator-api-types = { version = "0.3.11", path = "apis/rust/operator/types" }
+dora-operator-api-python = { version = "0.3.11", path = "apis/python/operator" }
+dora-operator-api-c = { version = "0.3.11", path = "apis/c/operator" }
+dora-node-api-c = { version = "0.3.11", path = "apis/c/node" }
+dora-core = { version = "0.3.11", path = "libraries/core" }
+dora-arrow-convert = { version = "0.3.11", path = "libraries/arrow-convert" }
+dora-tracing = { version = "0.3.11", path = "libraries/extensions/telemetry/tracing" }
+dora-metrics = { version = "0.3.11", path = "libraries/extensions/telemetry/metrics" }
+dora-download = { version = "0.3.11", path = "libraries/extensions/download" }
+shared-memory-server = { version = "0.3.11", path = "libraries/shared-memory-server" }
+communication-layer-request-reply = { version = "0.3.11", path = "libraries/communication-layer/request-reply" }
+dora-runtime = { version = "0.3.11", path = "binaries/runtime" }
+dora-daemon = { version = "0.3.11", path = "binaries/daemon" }
+dora-coordinator = { version = "0.3.11", path = "binaries/coordinator" }
+dora-ros2-bridge = { version = "0.3.11", path = "libraries/extensions/ros2-bridge" }
+dora-ros2-bridge-msg-gen = { version = "0.3.11", path = "libraries/extensions/ros2-bridge/msg-gen" }
 dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" }
 # versioned independently from the other dora crates
 dora-message = { version = "0.4.4", path = "libraries/message" }

node-hub/dora-argotranslate/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-argotranslate"
-version = "0.3.10"
+version = "0.3.11"
 description = "Dora Node for Text translating using Argostranslate"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },

node-hub/dora-dav1d/Cargo.toml

@@ -4,6 +4,10 @@ edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+default = []
+python = ["pyo3"]
+
 [dependencies]
 dav1d = "0.10"
 bitstream-io = "2.0"
@@ -12,3 +16,15 @@ structopt = "0.3"
 dora-node-api = { workspace = true, features = ["tracing"] }
 eyre = "0.6.8"
 bytemuck = "1.7.0"
+pyo3 = { workspace = true, features = [
+    "extension-module",
+    "abi3",
+    "eyre",
+    "generate-import-lib",
+], optional = true }
+
+
+[lib]
+name = "dora_dav1d"
+path = "src/lib.rs"
+crate-type = ["lib", "cdylib"]

node-hub/dora-dav1d/pyproject.toml

@@ -0,0 +1,30 @@
+[build-system]
+requires = ["maturin>=0.13.2"]
+build-backend = "maturin"
+
+[project]
+name = "dora-dav1d"
+dynamic = ["version"]
+license = { text = "MIT" }
+requires-python = ">=3.8"
+
+dependencies = [
+    "maturin>=1.8.2",
+]
+
+scripts = { "dora-dav1d" = "dora_dav1d:py_main" }
+
+[tool.maturin]
+features = ["python", "pyo3/extension-module"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",    # pydocstyle
+  "UP",   # Ruff's UP rule
+  "PERF", # Ruff's PERF rule
+  "RET",  # Ruff's RET rule
+  "RSE",  # Ruff's RSE rule
+  "NPY",  # Ruff's NPY rule
+  "N",    # Ruff's N rule
+  "I",    # Ruff's I rule
+]

node-hub/dora-dav1d/src/lib.rs

@@ -0,0 +1,129 @@
+use dav1d::Settings;
+use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow};
+use eyre::{Context, Result};
+use log::warn;
+
+fn yuv420_to_bgr(
+    y_plane: &[u8],
+    u_plane: &[u8],
+    v_plane: &[u8],
+    width: u32,
+    height: u32,
+) -> Vec<u8> {
+    let width = width as usize;
+    let height = height as usize;
+    let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer
+
+    for j in 0..height {
+        for i in 0..width {
+            let y_idx = j * width + i; // Index in Y plane
+            let uv_idx = (j / 2) * (width / 2) + (i / 2); // Index in U/V planes
+
+            let y = y_plane[y_idx] as f32;
+            let u = u_plane[uv_idx] as f32 - 128.0;
+            let v = v_plane[uv_idx] as f32 - 128.0;
+
+            // Convert YUV to RGB using BT.601 standard formula
+            let r = (y + 1.402 * v).clamp(0.0, 255.0) as u8;
+            let g = (y - 0.344136 * u - 0.714136 * v).clamp(0.0, 255.0) as u8;
+            let b = (y + 1.772 * u).clamp(0.0, 255.0) as u8;
+
+            // Set the RGB values in the output buffer
+            let rgb_idx = y_idx * 3;
+            rgb_data[rgb_idx] = b;
+            rgb_data[rgb_idx + 1] = g;
+            rgb_data[rgb_idx + 2] = r;
+        }
+    }
+
+    rgb_data
+}
+
+pub fn lib_main() -> Result<()> {
+    let mut settings = Settings::new();
+    // settings.set_n_threads(16);
+    settings.set_max_frame_delay(1);
+    let mut dec =
+        dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance");
+
+    let (mut node, mut events) =
+        DoraNode::init_from_env().context("Could not initialize dora node")?;
+
+    loop {
+        match events.recv() {
+            Some(Event::Input {
+                id,
+                data,
+                mut metadata,
+            }) => {
+                if let Some(data) = data.as_any().downcast_ref::<UInt8Array>() {
+                    let data = data.values().clone();
+                    match dec.send_data(data, None, None, None) {
+                        Err(e) => {
+                            warn!("Error sending data to the decoder: {}", e);
+                        }
+                        Ok(()) => {
+                            if let Ok(p) = dec.get_picture() {
+                                match p.pixel_layout() {
+                                    dav1d::PixelLayout::I420 => {
+                                        let y = p.plane(dav1d::PlanarImageComponent::Y);
+                                        let u = p.plane(dav1d::PlanarImageComponent::U);
+                                        let v = p.plane(dav1d::PlanarImageComponent::V);
+                                        let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height());
+                                        let arrow = y.into_arrow();
+                                        metadata.parameters.insert(
+                                            "encoding".to_string(),
+                                            dora_node_api::Parameter::String("bgr8".to_string()),
+                                        );
+                                        node.send_output(id, metadata.parameters, arrow).unwrap();
+                                    }
+                                    dav1d::PixelLayout::I400 => {
+                                        let y = p.plane(dav1d::PlanarImageComponent::Y);
+                                        let vec16: Vec<u16> = bytemuck::cast_slice(&y).to_vec();
+                                        let arrow = vec16.into_arrow();
+                                        metadata.parameters.insert(
+                                            "encoding".to_string(),
+                                            dora_node_api::Parameter::String("mono16".to_string()),
+                                        );
+                                        node.send_output(id, metadata.parameters, arrow).unwrap();
+                                    }
+                                    _ => {
+                                        warn!("Unsupported pixel layout");
+                                        continue;
+                                    }
+                                };
+                            }
+                        }
+                    }
+                } else {
+                    warn!("Unsupported data type {}", data.data_type());
+                    continue;
+                }
+            }
+            None => break,
+            Some(_) => break,
+        }
+    }
+    Ok(())
+}
+
+#[cfg(feature = "python")]
+use pyo3::{
+    pyfunction, pymodule,
+    types::{PyModule, PyModuleMethods},
+    wrap_pyfunction, Bound, PyResult, Python,
+};
+
+#[cfg(feature = "python")]
+#[pyfunction]
+fn py_main(_py: Python) -> eyre::Result<()> {
+    lib_main()
+}
+
+#[cfg(feature = "python")]
+#[pymodule]
+fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> {
+    m.add_function(wrap_pyfunction!(py_main, &m)?)?;
+    m.add("__version__", env!("CARGO_PKG_VERSION"))?;
+    Ok(())
+}

node-hub/dora-dav1d/src/main.rs

@@ -1,108 +1,3 @@
-use dav1d::Settings;
-use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow};
-use eyre::{Context, Result};
-use log::warn;
-
-fn yuv420_to_bgr(
-    y_plane: &[u8],
-    u_plane: &[u8],
-    v_plane: &[u8],
-    width: u32,
-    height: u32,
-) -> Vec<u8> {
-    let width = width as usize;
-    let height = height as usize;
-    let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer
-
-    for j in 0..height {
-        for i in 0..width {
-            let y_idx = j * width + i; // Index in Y plane
-            let uv_idx = (j / 2) * (width / 2) + (i / 2); // Index in U/V planes
-
-            let y = y_plane[y_idx] as f32;
-            let u = u_plane[uv_idx] as f32 - 128.0;
-            let v = v_plane[uv_idx] as f32 - 128.0;
-
-            // Convert YUV to RGB using BT.601 standard formula
-            let r = (y + 1.402 * v).clamp(0.0, 255.0) as u8;
-            let g = (y - 0.344136 * u - 0.714136 * v).clamp(0.0, 255.0) as u8;
-            let b = (y + 1.772 * u).clamp(0.0, 255.0) as u8;
-
-            // Set the RGB values in the output buffer
-            let rgb_idx = y_idx * 3;
-            rgb_data[rgb_idx] = b;
-            rgb_data[rgb_idx + 1] = g;
-            rgb_data[rgb_idx + 2] = r;
-        }
-    }
-
-    rgb_data
-}
-
-fn main() -> Result<()> {
-    let mut settings = Settings::new();
-    // settings.set_n_threads(16);
-    settings.set_max_frame_delay(1);
-    let mut dec =
-        dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance");
-
-    let (mut node, mut events) =
-        DoraNode::init_from_env().context("Could not initialize dora node")?;
-
-    loop {
-        match events.recv() {
-            Some(Event::Input {
-                id,
-                data,
-                mut metadata,
-            }) => {
-                if let Some(data) = data.as_any().downcast_ref::<UInt8Array>() {
-                    let data = data.values().clone();
-                    match dec.send_data(data, None, None, None) {
-                        Err(e) => {
-                            warn!("Error sending data to the decoder: {}", e);
-                        }
-                        Ok(()) => {
-                            if let Ok(p) = dec.get_picture() {
-                                match p.pixel_layout() {
-                                    dav1d::PixelLayout::I420 => {
-                                        let y = p.plane(dav1d::PlanarImageComponent::Y);
-                                        let u = p.plane(dav1d::PlanarImageComponent::U);
-                                        let v = p.plane(dav1d::PlanarImageComponent::V);
-                                        let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height());
-                                        let arrow = y.into_arrow();
-                                        metadata.parameters.insert(
-                                            "encoding".to_string(),
-                                            dora_node_api::Parameter::String("bgr8".to_string()),
-                                        );
-                                        node.send_output(id, metadata.parameters, arrow).unwrap();
-                                    }
-                                    dav1d::PixelLayout::I400 => {
-                                        let y = p.plane(dav1d::PlanarImageComponent::Y);
-                                        let vec16: Vec<u16> = bytemuck::cast_slice(&y).to_vec();
-                                        let arrow = vec16.into_arrow();
-                                        metadata.parameters.insert(
-                                            "encoding".to_string(),
-                                            dora_node_api::Parameter::String("mono16".to_string()),
-                                        );
-                                        node.send_output(id, metadata.parameters, arrow).unwrap();
-                                    }
-                                    _ => {
-                                        warn!("Unsupported pixel layout");
-                                        continue;
-                                    }
-                                };
-                            }
-                        }
-                    }
-                } else {
-                    warn!("Unsupported data type {}", data.data_type());
-                    continue;
-                }
-            }
-            None => break,
-            Some(_) => break,
-        }
-    }
-    Ok(())
+fn main() -> eyre::Result<()> {
+    dora_dav1d::lib_main()
 }

node-hub/dora-distil-whisper/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-distil-whisper"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-echo/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-echo"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-internvl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-internvl"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-ios-lidar/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-ios-lidar"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-ios-lidar"
 license = { text = "MIT" }

node-hub/dora-keyboard/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-keyboard"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-kokoro-tts/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-kokoro-tts"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-kokoro-tts"
 license = { text = "MIT" }

node-hub/dora-microphone/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-microphone"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-object-to-pose/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "dora-object-to-pose"
-version = "0.3.10"
+version = "0.3.11"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

node-hub/dora-openai-server/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-openai-server"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-opus/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-opus"
-version = "0.3.10"
+version = "0.3.11"
 description = "Dora Node for Text translating using Opus"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },

node-hub/dora-outtetts/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-outtetts"
-version = "0.3.10"
+version = "0.3.11"
 authors = []
 description = "dora-outtetts"
 license = { text = "MIT" }

node-hub/dora-parler/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-parler"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-piper/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-piper"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for using Agilex piper"
 license = { text = "MIT" }

node-hub/dora-pyaudio/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyaudio"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 license = { text = "MIT" }
 readme = "README.md"

node-hub/dora-pyorbbecksdk/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyorbbecksdk"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Xiang Yang", email = "Ryu-Yang@qq.com" },

node-hub/dora-pyrealsense/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyrealsense"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for capturing video with Pyrealsense"
 license = { text = "MIT" }

node-hub/dora-qwen/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwen"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-qwen"
 license = { text = "MIT" }

node-hub/dora-qwen2-5-vl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwen2-5-vl"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-qwenvl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwenvl"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-rav1e/Cargo.toml

@@ -9,9 +9,26 @@ repository.workspace = true
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+default = []
+python = ["pyo3"]
+
 [dependencies]
 rav1e = { version = "0.7.1", features = ["serialize"] }
 dora-node-api = { workspace = true, features = ["tracing"] }
 eyre = "0.6.8"
 log = "0.4"
 bytemuck = "1.20"
+pyo3 = { workspace = true, features = [
+    "extension-module",
+    "abi3",
+    "eyre",
+    "generate-import-lib",
+], optional = true }
+
+
+[lib]
+name = "dora_rav1e"
+path = "src/lib.rs"
+crate-type = ["lib", "cdylib"]
+

node-hub/dora-rav1e/pyproject.toml

@@ -0,0 +1,30 @@
+[build-system]
+requires = ["maturin>=0.13.2"]
+build-backend = "maturin"
+
+[project]
+name = "dora-rav1e"
+dynamic = ["version"]
+license = { text = "MIT" }
+requires-python = ">=3.8"
+
+dependencies = [
+    "maturin>=1.8.2",
+]
+
+scripts = { "dora-rav1e" = "dora_rav1e:py_main" }
+
+[tool.maturin]
+features = ["python", "pyo3/extension-module"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",    # pydocstyle
+  "UP",   # Ruff's UP rule
+  "PERF", # Ruff's PERF rule
+  "RET",  # Ruff's RET rule
+  "RSE",  # Ruff's RSE rule
+  "NPY",  # Ruff's NPY rule
+  "N",    # Ruff's N rule
+  "I",    # Ruff's I rule
+]

node-hub/dora-rav1e/src/lib.rs

@@ -0,0 +1,371 @@
+// Copyright (c) 2019-2022, The rav1e contributors. All rights reserved
+//
+// This source code is subject to the terms of the BSD 2 Clause License and
+// the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License
+// was not distributed with this source code in the LICENSE file, you can
+// obtain it at www.aomedia.org/license/software. If the Alliance for Open
+// Media Patent License 1.0 was not distributed with this source code in the
+// PATENTS file, you can obtain it at www.aomedia.org/license/patent.
+
+use std::env::var;
+
+use dora_node_api::arrow::array::{UInt16Array, UInt8Array};
+use dora_node_api::{DoraNode, Event, IntoArrow, Parameter};
+use eyre::{Context as EyreContext, Result};
+use log::warn;
+// Encode the same tiny blank frame 30 times
+use rav1e::config::SpeedSettings;
+
+use rav1e::*;
+
+fn bgr8_to_yuv420(bgr_data: Vec<u8>, width: usize, height: usize) -> (Vec<u8>, Vec<u8>, Vec<u8>) {
+    let mut y_plane = vec![0; width * height];
+    let mut u_plane = vec![0; (width / 2) * (height / 2)];
+    let mut v_plane = vec![0; (width / 2) * (height / 2)];
+
+    for y in 0..height {
+        for x in 0..width {
+            let bgr_index = (y * width + x) * 3;
+            let b = bgr_data[bgr_index] as f32;
+            let g = bgr_data[bgr_index + 1] as f32;
+            let r = bgr_data[bgr_index + 2] as f32;
+
+            // Corrected YUV conversion formulas
+            let y_value = (0.299 * r + 0.587 * g + 0.114 * b).clamp(0.0, 255.0);
+            let u_value = (-0.14713 * r - 0.28886 * g + 0.436 * b + 128.0).clamp(0.0, 255.0);
+            let v_value = (0.615 * r - 0.51499 * g - 0.10001 * b + 128.0).clamp(0.0, 255.0);
+
+            let y_index = y * width + x;
+            y_plane[y_index] = y_value.round() as u8;
+
+            if x % 2 == 0 && y % 2 == 0 {
+                let uv_index = (y / 2) * (width / 2) + (x / 2);
+                u_plane[uv_index] = u_value.round() as u8;
+                v_plane[uv_index] = v_value.round() as u8;
+            }
+        }
+    }
+
+    (y_plane, u_plane, v_plane)
+}
+
+fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], &[u8]) {
+    // Calculate sizes of Y, U, and V planes for YUV420 format
+    let y_size = width * height; // Y has full resolution
+    let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions
+    let uv_height = height / 2; // U and V are subsampled by 2 in both dimensions
+    let uv_size = uv_width * uv_height; // Size for U and V planes
+
+    // Ensure the buffer has the correct size
+    // if buffer.len() != y_size + 2 * uv_size {
+    // panic!("Invalid buffer size for the given width and height!");
+    // }
+
+    // Extract Y, U, and V planes
+    let y_plane = &buffer[0..y_size]; //.to_vec();
+    let u_plane = &buffer[y_size..y_size + uv_size]; //.to_vec();
+    let v_plane = &buffer[y_size + uv_size..]; //.to_vec();
+
+    (y_plane, u_plane, v_plane)
+}
+
+pub fn lib_main() -> Result<()> {
+    let mut height = std::env::var("IMAGE_HEIGHT")
+        .unwrap_or_else(|_| "480".to_string())
+        .parse()
+        .unwrap();
+    let mut width = std::env::var("IMAGE_WIDTH")
+        .unwrap_or_else(|_| "640".to_string())
+        .parse()
+        .unwrap();
+    let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10);
+    let mut enc = EncoderConfig {
+        width,
+        height,
+        speed_settings: SpeedSettings::from_preset(speed),
+        low_latency: true,
+        ..Default::default()
+    };
+    let cfg = Config::new().with_encoder_config(enc.clone());
+    cfg.validate()?;
+
+    let (mut node, mut events) =
+        DoraNode::init_from_env().context("Could not initialize dora node")?;
+
+    loop {
+        match events.recv() {
+            Some(Event::Input {
+                id,
+                data,
+                mut metadata,
+            }) => {
+                if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") {
+                    height = *h as usize;
+                };
+                if let Some(Parameter::Integer(w)) = metadata.parameters.get("width") {
+                    width = *w as usize;
+                };
+                let encoding = if let Some(Parameter::String(encoding)) =
+                    metadata.parameters.get("encoding")
+                {
+                    encoding
+                } else {
+                    "bgr8"
+                };
+                enc = EncoderConfig {
+                    width,
+                    height,
+                    speed_settings: SpeedSettings::from_preset(speed),
+                    low_latency: true,
+                    ..Default::default()
+                };
+                match encoding {
+                    "mono16" => {
+                        enc.bit_depth = 12;
+                        enc.chroma_sampling = color::ChromaSampling::Cs400;
+                    }
+                    _ => {}
+                }
+
+                let cfg = Config::new().with_encoder_config(enc.clone());
+                if encoding == "bgr8" {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: Vec<u8> = buffer.values().to_vec();
+                    let (y, u, v) = bgr8_to_yuv420(buffer, width, height);
+
+                    // Transpose values from BGR to RGB
+                    // let buffer: Vec<u8> = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
+
+                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
+                    let mut f = ctx.new_frame();
+
+                    let xdec = f.planes[0].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
+                    let xdec = f.planes[1].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
+                    let xdec = f.planes[2].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
+
+                    match ctx.send_frame(f) {
+                        Ok(_) => {}
+                        Err(e) => match e {
+                            EncoderStatus::EnoughData => {
+                                warn!("Unable to send frame ");
+                                continue;
+                            }
+                            _ => {
+                                warn!("Unable to send frame ");
+                                continue;
+                            }
+                        },
+                    }
+                    metadata
+                        .parameters
+                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
+                    ctx.flush();
+                    match ctx.receive_packet() {
+                        Ok(pkt) => {
+                            let data = pkt.data;
+                            let arrow = data.into_arrow();
+                            node.send_output(id, metadata.parameters, arrow)
+                                .context("could not send output")
+                                .unwrap();
+                        }
+                        Err(e) => match e {
+                            EncoderStatus::LimitReached => {}
+                            EncoderStatus::Encoded => {}
+                            EncoderStatus::NeedMoreData => {}
+                            _ => {
+                                panic!("Unable to receive packet",);
+                            }
+                        },
+                    }
+                } else if encoding == "yuv420" {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer = buffer.values(); //.to_vec();
+
+                    let (y, u, v) = get_yuv_planes(buffer, width, height);
+                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
+                    let mut f = ctx.new_frame();
+
+                    let xdec = f.planes[0].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
+                    let xdec = f.planes[1].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
+                    let xdec = f.planes[2].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
+
+                    match ctx.send_frame(f) {
+                        Ok(_) => {}
+                        Err(e) => match e {
+                            EncoderStatus::EnoughData => {
+                                warn!("Unable to send frame ");
+                            }
+                            _ => {
+                                warn!("Unable to send frame ");
+                            }
+                        },
+                    }
+                    metadata
+                        .parameters
+                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
+                    ctx.flush();
+                    match ctx.receive_packet() {
+                        Ok(pkt) => {
+                            let data = pkt.data;
+                            let arrow = data.into_arrow();
+                            node.send_output(id, metadata.parameters, arrow)
+                                .context("could not send output")
+                                .unwrap();
+                        }
+                        Err(e) => match e {
+                            EncoderStatus::LimitReached => {}
+                            EncoderStatus::Encoded => {}
+                            EncoderStatus::NeedMoreData => {}
+                            _ => {
+                                panic!("Unable to receive packet",);
+                            }
+                        },
+                    }
+                } else if encoding == "mono16" {
+                    let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: &[u16] = buffer.values();
+                    // let buffer = shift_u16_slice_to_upper_12_bits(buffer);
+                    let bytes: &[u8] = &bytemuck::cast_slice(&buffer);
+
+                    let mut ctx: Context<u16> = cfg.new_context().unwrap();
+                    let mut f = ctx.new_frame();
+
+                    let xdec = f.planes[0].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit.
+                    f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2);
+
+                    match ctx.send_frame(f) {
+                        Ok(_) => {}
+                        Err(e) => match e {
+                            EncoderStatus::EnoughData => {
+                                warn!("Unable to send frame ");
+                            }
+                            _ => {
+                                warn!("Unable to send frame ");
+                            }
+                        },
+                    }
+                    metadata
+                        .parameters
+                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
+                    ctx.flush();
+                    match ctx.receive_packet() {
+                        Ok(pkt) => {
+                            let data = pkt.data;
+                            let arrow = data.into_arrow();
+                            node.send_output(id, metadata.parameters, arrow)
+                                .context("could not send output")
+                                .unwrap();
+                        }
+                        Err(e) => match e {
+                            EncoderStatus::LimitReached => {}
+                            EncoderStatus::Encoded => {}
+                            EncoderStatus::NeedMoreData => {}
+                            _ => {
+                                panic!("Unable to receive packet",);
+                            }
+                        },
+                    }
+                } else if encoding == "rgb8" {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: Vec<u8> = buffer.values().to_vec();
+                    let buffer: Vec<u8> =
+                        buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
+                    let (y, u, v) = bgr8_to_yuv420(buffer, width, height);
+
+                    // Transpose values from BGR to RGB
+
+                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
+                    let mut f = ctx.new_frame();
+
+                    let xdec = f.planes[0].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
+                    let xdec = f.planes[1].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
+                    let xdec = f.planes[2].cfg.xdec;
+                    let stride = (width + xdec) >> xdec;
+                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
+
+                    match ctx.send_frame(f) {
+                        Ok(_) => {}
+                        Err(e) => match e {
+                            EncoderStatus::EnoughData => {
+                                warn!("Unable to send frame ");
+                                continue;
+                            }
+                            _ => {
+                                warn!("Unable to send frame ");
+                                continue;
+                            }
+                        },
+                    }
+                    metadata
+                        .parameters
+                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
+                    ctx.flush();
+                    match ctx.receive_packet() {
+                        Ok(pkt) => {
+                            let data = pkt.data;
+                            let arrow = data.into_arrow();
+                            node.send_output(id, metadata.parameters, arrow)
+                                .context("could not send output")
+                                .unwrap();
+                        }
+                        Err(e) => match e {
+                            EncoderStatus::LimitReached => {}
+                            EncoderStatus::Encoded => {}
+                            EncoderStatus::NeedMoreData => {}
+                            _ => {
+                                panic!("Unable to receive packet",);
+                            }
+                        },
+                    }
+                } else {
+                    unimplemented!("We haven't worked on additional encodings.");
+                }
+            }
+            Some(Event::Error(_e)) => {
+                continue;
+            }
+            _ => break,
+        };
+    }
+
+    Ok(())
+}
+
+#[cfg(feature = "python")]
+use pyo3::{
+    pyfunction, pymodule,
+    types::{PyModule, PyModuleMethods},
+    wrap_pyfunction, Bound, PyResult, Python,
+};
+
+#[cfg(feature = "python")]
+#[pyfunction]
+fn py_main(_py: Python) -> eyre::Result<()> {
+    lib_main()
+}
+
+#[cfg(feature = "python")]
+#[pymodule]
+fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> {
+    m.add_function(wrap_pyfunction!(py_main, &m)?)?;
+    m.add("__version__", env!("CARGO_PKG_VERSION"))?;
+    Ok(())
+}

node-hub/dora-rav1e/src/main.rs

@@ -1,350 +1,3 @@
-// Copyright (c) 2019-2022, The rav1e contributors. All rights reserved
-//
-// This source code is subject to the terms of the BSD 2 Clause License and
-// the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License
-// was not distributed with this source code in the LICENSE file, you can
-// obtain it at www.aomedia.org/license/software. If the Alliance for Open
-// Media Patent License 1.0 was not distributed with this source code in the
-// PATENTS file, you can obtain it at www.aomedia.org/license/patent.
-
-use std::env::var;
-
-use dora_node_api::arrow::array::{UInt16Array, UInt8Array};
-use dora_node_api::{DoraNode, Event, IntoArrow, Parameter};
-use eyre::{Context as EyreContext, Result};
-use log::warn;
-// Encode the same tiny blank frame 30 times
-use rav1e::config::SpeedSettings;
-
-use rav1e::*;
-
-fn bgr8_to_yuv420(bgr_data: Vec<u8>, width: usize, height: usize) -> (Vec<u8>, Vec<u8>, Vec<u8>) {
-    let mut y_plane = vec![0; width * height];
-    let mut u_plane = vec![0; (width / 2) * (height / 2)];
-    let mut v_plane = vec![0; (width / 2) * (height / 2)];
-
-    for y in 0..height {
-        for x in 0..width {
-            let bgr_index = (y * width + x) * 3;
-            let b = bgr_data[bgr_index] as f32;
-            let g = bgr_data[bgr_index + 1] as f32;
-            let r = bgr_data[bgr_index + 2] as f32;
-
-            // Corrected YUV conversion formulas
-            let y_value = (0.299 * r + 0.587 * g + 0.114 * b).clamp(0.0, 255.0);
-            let u_value = (-0.14713 * r - 0.28886 * g + 0.436 * b + 128.0).clamp(0.0, 255.0);
-            let v_value = (0.615 * r - 0.51499 * g - 0.10001 * b + 128.0).clamp(0.0, 255.0);
-
-            let y_index = y * width + x;
-            y_plane[y_index] = y_value.round() as u8;
-
-            if x % 2 == 0 && y % 2 == 0 {
-                let uv_index = (y / 2) * (width / 2) + (x / 2);
-                u_plane[uv_index] = u_value.round() as u8;
-                v_plane[uv_index] = v_value.round() as u8;
-            }
-        }
-    }
-
-    (y_plane, u_plane, v_plane)
-}
-
-fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], &[u8]) {
-    // Calculate sizes of Y, U, and V planes for YUV420 format
-    let y_size = width * height; // Y has full resolution
-    let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions
-    let uv_height = height / 2; // U and V are subsampled by 2 in both dimensions
-    let uv_size = uv_width * uv_height; // Size for U and V planes
-
-    // Ensure the buffer has the correct size
-    // if buffer.len() != y_size + 2 * uv_size {
-    // panic!("Invalid buffer size for the given width and height!");
-    // }
-
-    // Extract Y, U, and V planes
-    let y_plane = &buffer[0..y_size]; //.to_vec();
-    let u_plane = &buffer[y_size..y_size + uv_size]; //.to_vec();
-    let v_plane = &buffer[y_size + uv_size..]; //.to_vec();
-
-    (y_plane, u_plane, v_plane)
-}
-
-fn main() -> Result<()> {
-    let mut height = std::env::var("IMAGE_HEIGHT")
-        .unwrap_or_else(|_| "480".to_string())
-        .parse()
-        .unwrap();
-    let mut width = std::env::var("IMAGE_WIDTH")
-        .unwrap_or_else(|_| "640".to_string())
-        .parse()
-        .unwrap();
-    let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10);
-    let mut enc = EncoderConfig {
-        width,
-        height,
-        speed_settings: SpeedSettings::from_preset(speed),
-        low_latency: true,
-        ..Default::default()
-    };
-    let cfg = Config::new().with_encoder_config(enc.clone());
-    cfg.validate()?;
-
-    let (mut node, mut events) =
-        DoraNode::init_from_env().context("Could not initialize dora node")?;
-
-    loop {
-        match events.recv() {
-            Some(Event::Input {
-                id,
-                data,
-                mut metadata,
-            }) => {
-                if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") {
-                    height = *h as usize;
-                };
-                if let Some(Parameter::Integer(w)) = metadata.parameters.get("width") {
-                    width = *w as usize;
-                };
-                let encoding = if let Some(Parameter::String(encoding)) =
-                    metadata.parameters.get("encoding")
-                {
-                    encoding
-                } else {
-                    "bgr8"
-                };
-                enc = EncoderConfig {
-                    width,
-                    height,
-                    speed_settings: SpeedSettings::from_preset(speed),
-                    low_latency: true,
-                    ..Default::default()
-                };
-                match encoding {
-                    "mono16" => {
-                        enc.bit_depth = 12;
-                        enc.chroma_sampling = color::ChromaSampling::Cs400;
-                    }
-                    _ => {}
-                }
-
-                let cfg = Config::new().with_encoder_config(enc.clone());
-                if encoding == "bgr8" {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: Vec<u8> = buffer.values().to_vec();
-                    let (y, u, v) = bgr8_to_yuv420(buffer, width, height);
-
-                    // Transpose values from BGR to RGB
-                    // let buffer: Vec<u8> = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
-
-                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
-                    let mut f = ctx.new_frame();
-
-                    let xdec = f.planes[0].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
-                    let xdec = f.planes[1].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
-                    let xdec = f.planes[2].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
-
-                    match ctx.send_frame(f) {
-                        Ok(_) => {}
-                        Err(e) => match e {
-                            EncoderStatus::EnoughData => {
-                                warn!("Unable to send frame ");
-                                continue;
-                            }
-                            _ => {
-                                warn!("Unable to send frame ");
-                                continue;
-                            }
-                        },
-                    }
-                    metadata
-                        .parameters
-                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
-                    ctx.flush();
-                    match ctx.receive_packet() {
-                        Ok(pkt) => {
-                            let data = pkt.data;
-                            let arrow = data.into_arrow();
-                            node.send_output(id, metadata.parameters, arrow)
-                                .context("could not send output")
-                                .unwrap();
-                        }
-                        Err(e) => match e {
-                            EncoderStatus::LimitReached => {}
-                            EncoderStatus::Encoded => {}
-                            EncoderStatus::NeedMoreData => {}
-                            _ => {
-                                panic!("Unable to receive packet",);
-                            }
-                        },
-                    }
-                } else if encoding == "yuv420" {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer = buffer.values(); //.to_vec();
-
-                    let (y, u, v) = get_yuv_planes(buffer, width, height);
-                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
-                    let mut f = ctx.new_frame();
-
-                    let xdec = f.planes[0].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
-                    let xdec = f.planes[1].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
-                    let xdec = f.planes[2].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
-
-                    match ctx.send_frame(f) {
-                        Ok(_) => {}
-                        Err(e) => match e {
-                            EncoderStatus::EnoughData => {
-                                warn!("Unable to send frame ");
-                            }
-                            _ => {
-                                warn!("Unable to send frame ");
-                            }
-                        },
-                    }
-                    metadata
-                        .parameters
-                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
-                    ctx.flush();
-                    match ctx.receive_packet() {
-                        Ok(pkt) => {
-                            let data = pkt.data;
-                            let arrow = data.into_arrow();
-                            node.send_output(id, metadata.parameters, arrow)
-                                .context("could not send output")
-                                .unwrap();
-                        }
-                        Err(e) => match e {
-                            EncoderStatus::LimitReached => {}
-                            EncoderStatus::Encoded => {}
-                            EncoderStatus::NeedMoreData => {}
-                            _ => {
-                                panic!("Unable to receive packet",);
-                            }
-                        },
-                    }
-                } else if encoding == "mono16" {
-                    let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: &[u16] = buffer.values();
-                    // let buffer = shift_u16_slice_to_upper_12_bits(buffer);
-                    let bytes: &[u8] = &bytemuck::cast_slice(&buffer);
-
-                    let mut ctx: Context<u16> = cfg.new_context().unwrap();
-                    let mut f = ctx.new_frame();
-
-                    let xdec = f.planes[0].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit.
-                    f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2);
-
-                    match ctx.send_frame(f) {
-                        Ok(_) => {}
-                        Err(e) => match e {
-                            EncoderStatus::EnoughData => {
-                                warn!("Unable to send frame ");
-                            }
-                            _ => {
-                                warn!("Unable to send frame ");
-                            }
-                        },
-                    }
-                    metadata
-                        .parameters
-                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
-                    ctx.flush();
-                    match ctx.receive_packet() {
-                        Ok(pkt) => {
-                            let data = pkt.data;
-                            let arrow = data.into_arrow();
-                            node.send_output(id, metadata.parameters, arrow)
-                                .context("could not send output")
-                                .unwrap();
-                        }
-                        Err(e) => match e {
-                            EncoderStatus::LimitReached => {}
-                            EncoderStatus::Encoded => {}
-                            EncoderStatus::NeedMoreData => {}
-                            _ => {
-                                panic!("Unable to receive packet",);
-                            }
-                        },
-                    }
-                } else if encoding == "rgb8" {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: Vec<u8> = buffer.values().to_vec();
-                    let buffer: Vec<u8> =
-                        buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
-                    let (y, u, v) = bgr8_to_yuv420(buffer, width, height);
-
-                    // Transpose values from BGR to RGB
-
-                    let mut ctx: Context<u8> = cfg.new_context().unwrap();
-                    let mut f = ctx.new_frame();
-
-                    let xdec = f.planes[0].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[0].copy_from_raw_u8(&y, stride, 1);
-                    let xdec = f.planes[1].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[1].copy_from_raw_u8(&u, stride, 1);
-                    let xdec = f.planes[2].cfg.xdec;
-                    let stride = (width + xdec) >> xdec;
-                    f.planes[2].copy_from_raw_u8(&v, stride, 1);
-
-                    match ctx.send_frame(f) {
-                        Ok(_) => {}
-                        Err(e) => match e {
-                            EncoderStatus::EnoughData => {
-                                warn!("Unable to send frame ");
-                                continue;
-                            }
-                            _ => {
-                                warn!("Unable to send frame ");
-                                continue;
-                            }
-                        },
-                    }
-                    metadata
-                        .parameters
-                        .insert("encoding".to_string(), Parameter::String("av1".to_string()));
-                    ctx.flush();
-                    match ctx.receive_packet() {
-                        Ok(pkt) => {
-                            let data = pkt.data;
-                            let arrow = data.into_arrow();
-                            node.send_output(id, metadata.parameters, arrow)
-                                .context("could not send output")
-                                .unwrap();
-                        }
-                        Err(e) => match e {
-                            EncoderStatus::LimitReached => {}
-                            EncoderStatus::Encoded => {}
-                            EncoderStatus::NeedMoreData => {}
-                            _ => {
-                                panic!("Unable to receive packet",);
-                            }
-                        },
-                    }
-                } else {
-                    unimplemented!("We haven't worked on additional encodings.");
-                }
-            }
-            Some(Event::Error(_e)) => {
-                continue;
-            }
-            _ => break,
-        };
-    }
-
-    Ok(())
+fn main() -> eyre::Result<()> {
+    dora_rav1e::lib_main()
 }

node-hub/dora-rdt-1b/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-rdt-1b"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for RDT 1B"
 license = { text = "MIT" }

node-hub/dora-reachy2/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-reachy2"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-reachy2"
 license = { text = "MIT" }

node-hub/dora-sam2/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-sam2"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-sam2"
 license = { text = "MIT" }

node-hub/dora-ugv/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-ugv"
-version = "0.3.10"
+version = "0.3.11"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for using Agilex UGV"
 license = { text = "MIT" }

node-hub/dora-vad/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-vad"
-version = "0.3.10"
+version = "0.3.11"
 description = "Dora Node for Text translating using Argostranslate"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 license = { text = "MIT" }

node-hub/dora-yolo/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-yolo"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/llama-factory-recorder/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "llama-factory-recorder"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/opencv-plot/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "opencv-plot"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/opencv-video-capture/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "opencv-video-capture"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/pyarrow-assert/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyarrow-assert"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/pyarrow-sender/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyarrow-sender"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/terminal-input/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "terminal-input"
-version = "0.3.10"
+version = "0.3.11"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },