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899 B
899 B
dora-rs
Dataflow Oriented Robotic Architecture
Python API Design
The Python API is probably going to look as follows:
@register
async def function_name(state: DoraState, message: DoraMessage):
return outputs
The philosophy is to use async function as primary instance to:
- Mitigate the risk of running unsafe data mutations.
- Managing several run at the same time with timeout / deadline capabilities
- Using Tokio Spawn to avoid thread locks on CPU bound runs.
Getting started
I have made a simple example that can be run with:
cargo run start-python app:return_1
# Running this might required some shared library as:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/miniconda3/lib
export PYTHONPATH=$PYTHONPATH:$(pwd)
That is going to listen to the key_expr "a" and run the return_1 function within the app.py python async.
This is still very experimental.