Websockets asyncio

.github/workflows/test-ros1.yml

@@ -51,9 +51,16 @@ jobs:
       - name: Run linter
         run: |
           invoke check
-      - name: Run tests
+      # The twisted and asyncio transports both build on Autobahn, whose txaio
+      # layer binds a single async framework per process, so each transport is
+      # exercised in its own pytest process.
+      - name: Run tests (twisted transport)
         run: |
-          pytest tests/ros1
+          ROSLIBPY_TRANSPORT=twisted pytest tests/ros1
+      - name: Run tests (asyncio transport)
+        run: |
+          ROSLIBPY_TRANSPORT=asyncio pytest tests/ros1
       - name: Tear down docker containers
+        if: always()
         run: |
           docker rm -f rosbridge

.github/workflows/test-ros2.yml

@@ -55,9 +55,15 @@ jobs:
       - name: Run linter
         run: |
           invoke check
-      - name: Run tests
+      # The twisted and asyncio transports both build on Autobahn, whose txaio
+      # layer binds a single async framework per process, so each transport is
+      # exercised in its own pytest process.
+      - name: Run tests (twisted transport)
         run: |
-          pytest tests/ros2
+          ROSLIBPY_TRANSPORT=twisted pytest tests/ros2
+      - name: Run tests (asyncio transport)
+        run: |
+          ROSLIBPY_TRANSPORT=asyncio pytest tests/ros2
       - name: Tear down docker containers
         run: |
           docker rm -f rosbridge

.github/workflows/transport-benchmark.yml

@@ -0,0 +1,59 @@
+name: Transport benchmark
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  transport-benchmark:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v6
+        with:
+          python-version: "3.11"
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+          python -m pip install --no-cache-dir uvloop
+      - name: Set up docker containers
+        run: |
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros1 ./docker/ros1
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros1 /bin/bash -c "roslaunch /integration-tests.launch"
+          docker ps -a
+      - name: Run transport benchmark
+        continue-on-error: true
+        run: |
+          python benchmarks/transport.py \
+            --host 127.0.0.1 \
+            --port 9090 \
+            --cases twisted asyncio asyncio-uvloop asyncio-no-compression asyncio-uvloop-no-compression \
+            --warmup 100 \
+            --service-count 1500 \
+            --topic-count 3000 \
+            --markdown transport-benchmark.md
+          cat transport-benchmark.md >> "$GITHUB_STEP_SUMMARY"
+      - name: Upload transport benchmark
+        if: always()
+        continue-on-error: true
+        uses: actions/upload-artifact@v4
+        with:
+          name: transport-benchmark
+          path: transport-benchmark.md
+          if-no-files-found: ignore
+      - name: Tear down docker containers
+        if: always()
+        run: |
+          docker rm -f rosbridge

.readthedocs.yaml

@@ -0,0 +1,13 @@
+version: 2
+
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+
+sphinx:
+  configuration: docs/conf.py
+
+python:
+  install:
+    - requirements: docs/requirements.txt

CHANGELOG.rst

@@ -12,6 +12,12 @@ Unreleased
 
 **Added**
 
+* Added an asyncio transport backend (Autobahn running on an asyncio event
+  loop instead of the Twisted reactor) selectable with ``ROSLIBPY_TRANSPORT``,
+  ``set_default_transport()``, or the ``Ros(..., transport=...)`` argument.
+* Added transport-parametrized ROS integration tests for CPython, while
+  keeping IronPython on the ``cli`` transport.
+
 **Changed**
 
 **Fixed**

MANIFEST.in

@@ -1,11 +1,13 @@
 graft docs
 graft src
 graft tests
+graft benchmarks
 
 prune docker
 
 include .bumpversion.cfg
 include .editorconfig
+include .readthedocs.yaml
 
 include AUTHORS.rst
 include CHANGELOG.rst

README.rst

@@ -68,13 +68,30 @@ To install **roslibpy**, simply use ``pip``::
 
     pip install roslibpy
 
+The default WebSocket transport on CPython uses Autobahn on the Twisted
+reactor. An alternative transport that runs the same Autobahn WebSocket stack
+on an asyncio event loop is also available (no extra dependencies required);
+see `Transport selection`_ below.
+
 For IronPython, the ``pip`` command is slightly different::
 
     ipy -X:Frames -m pip install --user roslibpy
 
 Remember that you will need a working ROS setup including the
 **rosbridge server** and **TF2 web republisher** accessible within your network.
 
+Transport selection
+-------------------
+
+CPython uses the ``twisted`` transport by default; IronPython uses ``cli``. The
+``asyncio`` transport runs the same Autobahn WebSocket stack on an asyncio
+event loop. To select it, either pass it per client, set the process-wide
+default, or set the environment variable::
+
+    roslibpy.Ros(host='localhost', port=9090, transport='asyncio')
+    roslibpy.set_default_transport('asyncio')
+    ROSLIBPY_TRANSPORT=asyncio python my_script.py
+
 
 Documentation
 -------------