feat: Python xbot_service_interface library#25
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Runtime serialization (no codegen) for connecting to xBot services from Python. Supports both schema-validated (Mode 1) and schema-from-advertisement (Mode 2) modes. - datatypes.py: XbotHeader/DataDescriptor/ClaimPayload struct formats, MessageType enum - serialization.py: type string parser, pack/unpack for all C primitives, char arrays, enums - schema.py: ServiceSchema wrapping service.json, lookup by id/name/snake_name - discovery.py: multicast listener on 233.255.255.0:4242, CBOR advertisement parse - io.py: unicast UDP, claim flow, heartbeat watchdog, send_data/send_transaction - interface.py: ServiceInterface with dynamic send_*/on_*_changed dispatch, RegisterProxy, transaction context manager - manager.py: XbotServiceIo tying discovery + IO + interfaces together - examples/: echo_with_schema.py (Mode 1) and echo_no_schema.py (Mode 2)
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Add 331 tests across datatypes, serialization, schema, interface, io and discovery. Bugs fixed: - serialization: parse_type_string regex rejected uppercase enum type names (e.g. MotorMode) — changed [a-z_] to [a-zA-Z_] - discovery: _handle_packet crashed when malformed CBOR decoded to a non-dict object instead of raising — added isinstance(msg, dict) guard
The service resets all registers to defaults before applying any config transaction (HandleConfigurationTransaction calls loadConfigurationDefaults then allRegistersValid). Sending a single-register transaction left required registers invalid, causing 'Configuration message did not contain all required registers' on every live register update.
- Rename top-level directory from xbot_py to xbot_service_interface to match library name and C++ sibling convention (libxbot-service-interface) - Fix pyproject.toml build-backend (setuptools.backends.legacy → build_meta) - Add full PyPI metadata: author, license, classifiers, project URLs - Add README.md for PyPI landing page with API overview and examples - Add py.typed marker for PEP 561 type checking support - Update .gitignore to exclude dist/, build/, *.egg-info/ - Verified: python -m build produces sdist + wheel successfully
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Summary
send_{input_name}(value)methods andon_{output_name}_changedcallbacks via__getattr__/__setattr__— mirrors C++ generated API in snake_caseservice.registers['Name'] = valuedict-like proxy; sent immediately if connected, queued for nextCONFIGURATION_REQUESTotherwisewith service.transaction(): ...Test plan
pip install cbor2EchoService(C++ example binary)python examples/echo_with_schema.py— Mode 1: schema validation, register config, echo callbackspython examples/echo_no_schema.py— Mode 2: schema from advertisement, no local JSON needed