Refactor Zenoh message modules and session handling (#53)

openminddev · web-flow · commit 27f61cfa8903 · 2025-09-14T19:55:17.000-07:00
* Refactor Zenoh message modules and session handling

Moved message definitions from 'zenoh_idl' to new 'zenoh_msgs/idl' package and updated imports accordingly. Added 'zenoh_msgs/session.py' to encapsulate Zenoh session creation logic, replacing direct usage of zenoh.open() in audio stream modules. Cleaned up old 'zenoh_idl' package and updated __init__.py files for new structure.

* Update package include from zenoh_idl to zenoh_msgs

Changed the included package in pyproject.toml from 'zenoh_idl' to 'zenoh_msgs' to reflect the correct package structure.

* Fix import
diff --git a/pyproject.toml b/pyproject.toml
@@ -8,7 +8,7 @@ packages = [
     { include = "om1_speech", from = "src" },
     { include = "om1_utils", from = "src" },
     { include = "om1_vlm", from = "src" },
-    { include = "zenoh_idl", from = "src" }
+    { include = "zenoh_msgs", from = "src" }
 ]
 
 [tool.poetry.scripts]
diff --git a/src/om1_speech/audio/audio_input_stream.py b/src/om1_speech/audio/audio_input_stream.py
@@ -9,10 +9,8 @@
 from typing import Any, Callable, Dict, Generator, List, Optional, Tuple, Union
 
 import pyaudio
-import zenoh
 
-from zenoh_idl.status_msgs import AudioStatus
-from zenoh_idl.std_msgs import String, prepare_header
+from zenoh_msgs import AudioStatus, String, open_zenoh_session, prepare_header
 
 root_package_name = __name__.split(".")[0] if "." in __name__ else __name__
 logger = logging.getLogger(root_package_name)
@@ -101,7 +99,7 @@ def __init__(
         self.audio_status = None
 
         try:
-            self.session = zenoh.open(zenoh.Config())
+            self.session = open_zenoh_session()
             self.pub = self.session.declare_publisher(self.topic)
             self.session.declare_subscriber(self.topic, self.zenoh_audio_message)
         except Exception as e:
diff --git a/src/om1_speech/audio/audio_output_stream.py b/src/om1_speech/audio/audio_output_stream.py
@@ -10,10 +10,8 @@
 from typing import Callable, Dict, Optional
 
 import requests
-import zenoh
 
-from zenoh_idl.status_msgs import AudioStatus
-from zenoh_idl.std_msgs import String, prepare_header
+from zenoh_msgs import AudioStatus, String, open_zenoh_session, prepare_header
 
 root_package_name = __name__.split(".")[0] if "." in __name__ else __name__
 logger = logging.getLogger(root_package_name)
@@ -61,7 +59,7 @@ def __init__(
         self.audio_status = None
 
         try:
-            self.session = zenoh.open(zenoh.Config())
+            self.session = open_zenoh_session()
             self.pub = self.session.declare_publisher(self.topic)
             self.session.declare_subscriber(self.topic, self.zenoh_audio_message)
         except Exception as e:
diff --git a/src/om1_utils/__init__.py b/src/om1_utils/__init__.py
@@ -1,4 +1,13 @@
 from . import http, logging, ws
+from .logging import LoggingConfig, get_logging_config, setup_logging
 from .singleton import singleton
 
-__all__ = ["ws", "http", "logging", "singleton"]
+__all__ = [
+    "ws",
+    "http",
+    "logging",
+    "singleton",
+    "setup_logging",
+    "get_logging_config",
+    "LoggingConfig",
+]
diff --git a/src/om1_vlm/video/video_stream_blur_face.py b/src/om1_vlm/video/video_stream_blur_face.py
@@ -13,7 +13,7 @@
 import cv2
 import numpy as np
 
-from om1_utils.logging import LoggingConfig, get_logging_config, setup_logging
+from om1_utils import LoggingConfig, get_logging_config, setup_logging
 
 from ..anonymizationSys.scrfd_trt_pixelate import (
     CONF_THRES,
diff --git a/src/zenoh_idl/__init__.py b/src/zenoh_idl/__init__.py
diff --git a/src/zenoh_msgs/__init__.py b/src/zenoh_msgs/__init__.py
@@ -0,0 +1,30 @@
+from .idl import (
+    AudioStatus,
+    CameraStatus,
+    ColorRGBA,
+    Duration,
+    Header,
+    MotionStatus,
+    String,
+    Time,
+    prepare_header,
+    status_msgs,
+    std_msgs,
+)
+from .session import create_zenoh_config, open_zenoh_session
+
+__all__ = [
+    "std_msgs",
+    "status_msgs",
+    "AudioStatus",
+    "CameraStatus",
+    "MotionStatus",
+    "Header",
+    "String",
+    "prepare_header",
+    "Time",
+    "Duration",
+    "ColorRGBA",
+    "create_zenoh_config",
+    "open_zenoh_session",
+]
diff --git a/src/zenoh_msgs/idl/__init__.py b/src/zenoh_msgs/idl/__init__.py
@@ -0,0 +1,14 @@
+from .status_msgs import AudioStatus, CameraStatus, MotionStatus
+from .std_msgs import ColorRGBA, Duration, Header, String, Time, prepare_header
+
+__all__ = [
+    "AudioStatus",
+    "CameraStatus",
+    "MotionStatus",
+    "Header",
+    "String",
+    "prepare_header",
+    "Time",
+    "Duration",
+    "ColorRGBA",
+]
diff --git a/src/zenoh_msgs/idl/status_msgs.py b/src/zenoh_msgs/idl/status_msgs.py
diff --git a/src/zenoh_msgs/idl/std_msgs.py b/src/zenoh_msgs/idl/std_msgs.py
diff --git a/src/zenoh_msgs/session.py b/src/zenoh_msgs/session.py
@@ -0,0 +1,69 @@
+import logging
+
+import zenoh
+
+logging.basicConfig(level=logging.INFO)
+
+
+def create_zenoh_config(network_discovery: bool = True) -> dict:
+    """
+    Create a Zenoh configuration for a client connecting to a local server.
+
+    Parameters
+    ----------
+    network_discovery : bool, optional
+        Whether to enable network discovery (default is True).
+
+    Returns
+    -------
+    dict
+        The Zenoh configuration dictionary.
+    """
+    config = zenoh.Config()
+    if not network_discovery:
+        config.insert_json5("mode", '"client"')
+        config.insert_json5("connect/endpoints", '["tcp/127.0.0.1:7447"]')
+
+    return config
+
+
+def open_zenoh_session() -> zenoh.Session:
+    """
+    Open a Zenoh session with a local connection first, then fall back to network discovery.
+
+    Returns
+    -------
+    zenoh.Session
+        The opened Zenoh session.
+
+    Raises
+    ------
+    Exception
+        If unable to open a Zenoh session.
+    """
+    local_config = create_zenoh_config(network_discovery=False)
+    try:
+        session = zenoh.open(local_config)
+        logging.info("Zenoh client opened without network discovery")
+        return session
+    except Exception as e:
+        logging.warning(f"Local connection failed: {e}")
+        logging.info("Falling back to network discovery...")
+
+    config = create_zenoh_config()
+    try:
+        session = zenoh.open(config)
+        logging.info("Zenoh client opened with network discovery")
+        return session
+    except Exception as e:
+        logging.error(f"Error opening Zenoh client: {e}")
+        raise Exception("Failed to open Zenoh session") from e
+
+
+if __name__ == "__main__":
+    session = open_zenoh_session()
+    if session:
+        logging.info("Session opened successfully")
+        session.close()
+    else:
+        logging.error("Failed to open Zenoh session")

Original file line number	Diff line number	Diff line change
`@@ -8,7 +8,7 @@ packages = [`
`8`	`8`	`{ include = "om1_speech", from = "src" },`
`9`	`9`	`{ include = "om1_utils", from = "src" },`
`10`	`10`	`{ include = "om1_vlm", from = "src" },`
`11`		`- { include = "zenoh_idl", from = "src" }`
	`11`	`+ { include = "zenoh_msgs", from = "src" }`
`12`	`12`	`]`
`13`	`13`
`14`	`14`	`[tool.poetry.scripts]`