Merge pull request #97 from modular-ml/dev_win11

Partial beta support for Windows 10 and 11

README.md

@@ -62,12 +62,12 @@ Before using Wrapyfi, YARP, ROS, or ZeroMQ must be installed.
 * Follow the [YARP installation guide](https://github.com/fabawi/wrapyfi/tree/main/wrapyfi_extensions/yarp/README.md?rank=0).<!-- [YARP installation guide](docs/yarp_install_lnk.md). -->
 Note that the iCub package is not needed for Wrapyfi to work and does not have to be installed if you do not intend on using the iCub robot.
 
-* For installing ROS, follow the [ROS installation guide](http://wiki.ros.org/noetic/Installation/Ubuntu). 
+* For installing ROS, follow the ROS installation guide [\[Ubuntu\]](http://wiki.ros.org/noetic/Installation/Ubuntu)[\[Windows\]](https://wiki.ros.org/noetic/Installation/Windows). 
 We recommend installing ROS on Conda using the [RoboStack](https://github.com/RoboStack/ros-noetic) environment. Additionally, the 
 [Wrapyfi ROS interfaces](https://github.com/modular-ml/wrapyfi_ros_interfaces/blob/master/README.md?rank=0) must be
 built to support messages needed for audio transmission [![ROS Package Index](https://img.shields.io/ros/v/noetic/wrapyfi_ros_interfaces)](https://index.ros.org/r/wrapyfi_ros_interfaces/#noetic)
 
-* For installing ROS 2, follow the [ROS 2 installation guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). 
+* For installing ROS 2, follow the ROS 2 installation guide [\[Ubuntu\]](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)[\[Windows\]](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html). 
 We recommend installing ROS 2 on Conda using the [RoboStack](https://github.com/RoboStack/ros-humble) environment. Additionally, the 
 [Wrapyfi ROS 2 interfaces](https://github.com/modular-ml/wrapyfi_ros2_interfaces/blob/master/README.md?rank=0) 
 must be built to support messages and services needed for audio transmission and the REQ/REP pattern support [![ROS Package Index](https://img.shields.io/ros/v/humble/wrapyfi_ros2_interfaces)](https://index.ros.org/p/wrapyfi_ros2_interfaces/#humble)
@@ -79,10 +79,18 @@ A standalone broker can be found [here](https://github.com/fabawi/wrapyfi/tree/m
 
 
 #### Compatibility
-* Ubuntu >= 18.04 (Not tested with earlier versions of Ubuntu or other OS)
+* Operating System
+ * [X] Ubuntu >= 18.04 (Not tested with earlier versions of Ubuntu or other Linux distributions)
+ * [X] Windows >= 10 [*beta support*]: 
+ * Multiprocessing is disabled. ZeroMQ brokers spawn as threads only
+ * Not tested with YARP and ROS 2
+ * ROS only tested within mamba/micromamba environment installed using [RoboStack](https://github.com/RoboStack/ros-noetic)
+ * ROS and ROS 2 interfaces not tested 
+ * Installation instructions across Wrapyfi guides and tutorials are not guaranteed to be compatible with Windows 11
+ * [ ] MacOS 10.14 Mojave [*planned for Wrapyfi v0.5*]
 * Python >= 3.6
 * OpenCV >= 4.2
-* Numpy >= 1.19
+* NumPy >= 1.19
 
 
 * YARP >= v3.3.2 
@@ -323,7 +331,9 @@ For more examples of usage, refer to the [user guide](docs/usage.md). Run script
 * [x] **YARP**
 * [x] **ROS**
 * [x] **ROS 2**
-* [x] **ZeroMQ** (beta feature: `should_wait` trigger introduced with event monitoring)
+* [x] **ZeroMQ** [*beta feature*]: 
+ * `should_wait` trigger introduced with event monitoring
+ * Event monitoring currently cannot be disabled [*planned for Wrapyfi v0.5*]
 
 
 ## Serializers
@@ -335,33 +345,34 @@ For more examples of usage, refer to the [user guide](docs/usage.md). Run script
 
 Supported Objects by the `NativeObject` type include:
 
-* [x] [**Numpy Array|Generic**](https://numpy.org/doc/1.23/)
-* [x] [**Pytorch Tensor**](https://pytorch.org/docs/stable/index.html)
+* [x] [**NumPy Array | Generic**](https://numpy.org/doc/1.23/)
+* [x] [**PyTorch Tensor**](https://pytorch.org/docs/stable/index.html)
 * [x] [**Tensorflow 2 Tensor**](https://www.tensorflow.org/api_docs/python/tf)
 * [x] [**JAX Tensor**](https://jax.readthedocs.io/en/latest/)
 * [x] [**MXNet Tensor**](https://mxnet.apache.org/versions/1.9.1/api/python.html)
 * [x] [**Paddlepaddle Tensor**](https://www.paddlepaddle.org.cn/documentation/docs/en/guides/index_en.html)
-* [x] [**pandas DataFrame|Series**](https://pandas.pydata.org/docs/)
+* [x] [**pandas DataFrame | Series**](https://pandas.pydata.org/docs/)
 * [x] [**Pillow Image**](https://pillow.readthedocs.io/en/stable/reference/Image.html)
 * [x] [**PyArrow Array**](https://arrow.apache.org/docs/python/index.html)
 * [x] [**CuPy Array**](https://docs.cupy.dev/en/stable/index.html)
-* [x] [**Xarray DataArray|Dataset**](http://xarray.pydata.org/en/stable/)
-* [x] [**Dask Array|DataFrame**](https://www.dask.org/get-started)
-* [x] [**Zarr Array|Group**](https://zarr.readthedocs.io/en/stable/)
+* [x] [**Xarray DataArray | Dataset**](http://xarray.pydata.org/en/stable/)
+* [x] [**Dask Array | DataFrame**](https://www.dask.org/get-started)
+* [x] [**Zarr Array | Group**](https://zarr.readthedocs.io/en/stable/)
 * [x] [**Pint Quantity**](https://pint.readthedocs.io/en/stable/)
-* [ ] [**pandas 2.0 DataFrame|Series**](https://pandas.pydata.org/docs/)
+* [ ] [**pandas 2.0 DataFrame | Series**](https://pandas.pydata.org/docs/)
 * [ ] [**Gmpy 2 MPZ**](https://gmpy2.readthedocs.io/en/latest/) 
+* [ ] [**MLX**](https://ml-explore.github.io/mlx/build/html/index.html) [*planned for Wrapyfi v0.5*]
 
 ## Image
 
 Supported Objects by the `Image` type include:
 
-* [x] **Numpy Array** (supports many libraries including [scikit-image](https://scikit-image.org/), [imageio](https://imageio.readthedocs.io/en/stable/), [Open CV](https://opencv.org/), [imutils](https://github.com/PyImageSearch/imutils), [matplotlib.image](https://matplotlib.org/stable/api/image_api.html), and [Mahotas](https://mahotas.readthedocs.io/en/latest/))
+* [x] **NumPy Array** [*supports many libraries including [scikit-image](https://scikit-image.org/), [imageio](https://imageio.readthedocs.io/en/stable/), [Open CV](https://opencv.org/), [imutils](https://github.com/PyImageSearch/imutils), [matplotlib.image](https://matplotlib.org/stable/api/image_api.html), and [Mahotas](https://mahotas.readthedocs.io/en/latest/)*]
 
 ## Sound 
 
 Supported Objects by the `AudioChunk` type include:
 
-* [x] **Numpy Array**,int (supports the [sounddevice](https://python-sounddevice.readthedocs.io/en/0.4.5/) format)
+* [x] Tuple(**NumPy Array**, int) [*supports the [sounddevice](https://python-sounddevice.readthedocs.io/en/0.4.5/) format*]
 
 

examples/sensors/cam_mic.py

@@ -175,7 +175,7 @@ def capture_cam_mic(self):
  pass
  elif self.enable_video:
  while True:
- self.collect_cam(mware=self.mware)
+ self.collect_cam(mware=self.mware, img_width=self.img_width, img_height=self.img_height)
 
  def _mic_callback(self, audio, frames, time, status):
  """
@@ -291,7 +291,16 @@ def main(args):
  print(sd.query_devices())
  return
 
- cam_mic = CamMic(stream=args.stream, mic_source=args.mic_source, mware=args.mware)
+ cam_mic = CamMic(stream=args.stream,
+ mic_source=args.mic_source,
+ mic_rate=args.mic_rate,
+ mic_chunk=args.mic_chunk,
+ mic_channels=args.mic_channels,
+ img_source=args.img_source,
+ img_width=args.img_width,
+ img_height=args.img_height,
+ mware=args.mware,
+ )
 
  if args.mode == "publish":
  cam_mic.activate_communication(CamMic.collect_cam, mode="publish")

setup.py

@@ -44,7 +44,7 @@ def check_cv2(default_python="opencv-python"):
 
 setuptools.setup(
  name="wrapyfi",
- version="0.4.40",
+ version="0.4.41",
  description="Wrapyfi is a wrapper for simplifying Middleware communication",
  url="https://github.com/fabawi/wrapyfi/blob/main/",
  project_urls={
@@ -79,6 +79,8 @@ def check_cv2(default_python="opencv-python"):
  "Topic :: System :: Distributed Computing",
  "License :: OSI Approved :: MIT License",
  "Operating System :: POSIX :: Linux",
+ "Operating System :: Microsoft :: Windows :: Windows 10",
+ "Operating System :: Microsoft :: Windows :: Windows 11",
  "Programming Language :: Python :: 3.6",
  "Programming Language :: Python :: 3.7",
  "Programming Language :: Python :: 3.8",

wrapyfi/connect/clients.py

@@ -1,6 +1,7 @@
 import logging
 import os
 from glob import glob
+from pathlib import Path
 
 from wrapyfi.utils import dynamic_module_import
 
@@ -34,13 +35,11 @@ def scan():
  """
  Scan for clients and add them to the registry.
  """
- modules = glob(
- os.path.join(os.path.dirname(__file__), "..", "clients", "*.py"),
- recursive=True,
- )
+ base_dir = Path(__file__).parent.parent / "clients"
+ modules = glob(str(base_dir / "*.py"), recursive=True)
+
  modules = [
- "wrapyfi.clients."
- + module.replace(os.path.dirname(__file__) + "/../clients/", "")
+ "wrapyfi.clients." + Path(module).relative_to(base_dir).as_posix()
  for module in modules
  ]
  dynamic_module_import(modules, globals())

wrapyfi/connect/listeners.py

@@ -1,6 +1,8 @@
 import logging
 import os
 from glob import glob
+from pathlib import Path
+
 
 from wrapyfi.utils import SingletonOptimized, dynamic_module_import
 
@@ -79,13 +81,21 @@ def scan():
  """
  Scan for listeners and add them to the registry.
  """
- modules = glob(
- os.path.join(os.path.dirname(__file__), "..", "listeners", "*.py"),
- recursive=True,
- )
+ # modules = glob(
+ # os.path.join(os.path.dirname(__file__), "..", "listeners", "*.py"),
+ # recursive=True,
+ # )
+ # modules = [
+ # "wrapyfi.listeners."
+ # + module.replace(os.path.dirname(__file__) + "/../listeners/", "")
+ # for module in modules
+ # ]
+ # dynamic_module_import(modules, globals())
+ base_dir = Path(__file__).parent.parent / "listeners"
+ modules = glob(str(base_dir / "*.py"), recursive=True)
+
  modules = [
- "wrapyfi.listeners."
- + module.replace(os.path.dirname(__file__) + "/../listeners/", "")
+ "wrapyfi.listeners." + Path(module).relative_to(base_dir).as_posix()
  for module in modules
  ]
  dynamic_module_import(modules, globals())

wrapyfi/connect/publishers.py

@@ -1,6 +1,7 @@
 import logging
 import os
 from glob import glob
+from pathlib import Path
 
 from wrapyfi.utils import SingletonOptimized, dynamic_module_import
 
@@ -80,13 +81,11 @@ def scan():
  """
  Scan for publishers and add them to the registry.
  """
- modules = glob(
- os.path.join(os.path.dirname(__file__), "..", "publishers", "*.py"),
- recursive=True,
- )
+ base_dir = Path(__file__).parent.parent / "publishers"
+ modules = glob(str(base_dir / "*.py"), recursive=True)
+
  modules = [
- "wrapyfi.publishers."
- + module.replace(os.path.dirname(__file__) + "/../publishers/", "")
+ "wrapyfi.publishers." + Path(module).relative_to(base_dir).as_posix()
  for module in modules
  ]
  dynamic_module_import(modules, globals())

wrapyfi/connect/servers.py

@@ -2,6 +2,7 @@
 import os
 from glob import glob
 from typing import Optional
+from pathlib import Path
 
 from wrapyfi.utils import dynamic_module_import
 
@@ -36,13 +37,11 @@ def scan():
  """
  Scan for servers and add them to the registry.
  """
- modules = glob(
- os.path.join(os.path.dirname(__file__), "..", "servers", "*.py"),
- recursive=True,
- )
+ base_dir = Path(__file__).parent.parent / "servers"
+ modules = glob(str(base_dir / "*.py"), recursive=True)
+
  modules = [
- "wrapyfi.servers."
- + module.replace(os.path.dirname(__file__) + "/../servers/", "")
+ "wrapyfi.servers." + Path(module).relative_to(base_dir).as_posix()
  for module in modules
  ]
  dynamic_module_import(modules, globals())

wrapyfi/encoders.py

@@ -14,8 +14,8 @@ class JsonEncoder(json.JSONEncoder):
  A custom JSON encoder that can encode:
  - Sets
  - Datetime objects
- - Numpy datetime64 objects
- - Numpy ndarray objects
+ - NumPy datetime64 objects
+ - NumPy ndarray objects
  - Objects registered with the PluginRegistrar
  """
 
@@ -104,8 +104,8 @@ class JsonDecodeHook(object):
  - Tuples
  - Sets
  - Datetime objects
- - Numpy datetime64 objects
- - Numpy ndarray objects
+ - NumPy datetime64 objects
+ - NumPy ndarray objects
  - Objects registered with the PluginRegistrar
  """
 

wrapyfi/listeners/zeromq.py

@@ -24,6 +24,13 @@
 WATCHDOG_POLL_REPEAT = None
 
 
+if os.name == "nt" and ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN == "process":
+ ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN = "thread"
+ logging.warning("[ZeroMQ] Wrapyfi does not support multiprocessing on Windows. Please set "
+ "the environment variable WRAPYFI_ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN='thread'. "
+ "Switching automatically to 'thread' mode. ")
+
+
 class ZeroMQListener(Listener):
 
  def __init__(

wrapyfi/publishers/zeromq.py

@@ -35,6 +35,19 @@
 WATCHDOG_POLL_REPEAT = None
 
 
+if os.name == "nt" and PROXY_BROKER_SPAWN == "process" and START_PROXY_BROKER:
+ PROXY_BROKER_SPAWN = "thread"
+ logging.warning("[ZeroMQ] Wrapyfi does not support multiprocessing on Windows. Please set "
+ "the environment variable WRAPYFI_ZEROMQ_PROXY_BROKER_SPAWN='thread'. "
+ "Switching automatically to 'thread' mode. ")
+
+if os.name == "nt" and ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN == "process":
+ ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN = "thread"
+ logging.warning("[ZeroMQ] Wrapyfi does not support multiprocessing on Windows. Please set "
+ "the environment variable WRAPYFI_ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN='thread'. "
+ "Switching automatically to 'thread' mode. ")
+
+
 class ZeroMQPublisher(Publisher):
  def __init__(
  self,

wrapyfi/servers/zeromq.py

@@ -23,6 +23,13 @@
 WATCHDOG_POLL_REPEAT = None
 
 
+if os.name == "nt" and PROXY_BROKER_SPAWN == "process" and START_PROXY_BROKER:
+ PROXY_BROKER_SPAWN = "thread"
+ logging.warning("[ZeroMQ] Wrapyfi does not support multiprocessing on Windows. Please set "
+ "the environment variable WRAPYFI_ZEROMQ_PROXY_BROKER_SPAWN='thread'. "
+ "Switching automatically to 'thread' mode. ")
+
+
 class ZeroMQServer(Server):
  def __init__(
  self,

wrapyfi_extensions/yarp/README.md

@@ -3,8 +3,14 @@ To run the iCub simulator, the YARP framework as well as the iCub simulator need
 For this guide, we install YARP v3.3.2 and iCub (icub-main) v1.16.0. 
 
 ## Installing YARP
+
+```warning
+For installing YARP on **Windows** [follow these instructions](https://www.yarp.it/latest/install_yarp_windows.html)
+or install it within a [conda or conda-like (mamba/micromamba) environment](https://github.com/conda-forge/yarp-feedstock)
+```
+
 Several instructional tutorials are available for installing YARP and its python bindings.
-The installation process described here works on Ubuntu 20.04 and Python 3.8.
+The installation process described here targets Ubuntu 20.04 and Python 3.8.
 Download the YARP source and install following the [official installation documentation](https://www.yarp.it/install_yarp_linux.html) (do not use the precompiled binaries).
 Set the environment variable ```YARP_ROOT``` to the YARP source location: