COM API Overview¶

Complete reference of all public classes, decorators, and helpers in vyra_base.com.

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Decorators ¶

Use these on component methods to expose them over the network.

Decorator	Type	Description
`@remote_service`	Function	Expose a method as a request/response service server
`@remote_publisher`	Function	Expose a method as a message publisher
`@remote_subscriber`	Function	Register a method as a message subscriber callback
`@remote_actionServer.on_goal`	Method on class	Accept/reject incoming action goals
`@remote_actionServer.execute`	Method on class	Execute the action (main loop)
`@remote_actionServer.on_cancel`	Method on class	Handle cancellation requests

All decorators require your component class to call bind_decorated_callbacks() during Phase 2 initialization.

Abstract Handlers ¶

Implement these interfaces in your component class.

Interface	Description
`IServiceHandler`	Marker interface for classes that expose `@remote_service` methods
`IActionHandler`	Required base for classes using `@remote_actionServer`
`IGoalHandle`	Passed to `execute()` — use to publish feedback and set result

from vyra_base.com import IActionHandler, IGoalHandle

class MyComponent(IActionHandler):
    @remote_actionServer.execute(name="task")
    async def execute(self, goal_handle: IGoalHandle):
        await goal_handle.publish_feedback({"progress": 50})
        goal_handle.succeed()
        return {"done": True}

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InterfaceFactory ¶

Creates live communication objects (servers, clients, publishers, subscribers, action objects).

Method	Description
`create_server(name, callback, protocols)`	Create a service server
`create_client(name, protocols)`	Create a service client
`create_publisher(name, protocols)`	Create a publisher
`create_subscriber(name, callback, protocols)`	Create a subscriber
`create_action_client(name, protocols, feedback_callback)`	Create an action client
`create_from_blueprint(blueprint)`	Create interface from a Blueprint object
`get_available_protocols()`	Returns list of currently available `ProtocolType` values

Blueprints ¶

Blueprints describe an interface before it is created (Phase 1 of two-phase init). Created automatically by decorators; rarely needed manually.

Blueprint	Description
`ServiceBlueprint`	Describes a service server
`PublisherBlueprint`	Describes a publisher
`SubscriberBlueprint`	Describes a subscriber
`ActionBlueprint`	Describes an action server (groups goal/execute/cancel blueprints)
`CallbackRegistry`	Global registry — stores and retrieves all blueprints by name

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Transport Layer ¶

All four transports are fully implemented. Import from com.transport.t_*.

Protocol	Module	Key Classes	Notes
Zenoh (default)	`transport.t_zenoh`	`ZenohProvider`, `ZenohSession`	Requires `eclipse-zenoh`
ROS2	`transport.t_ros2`	`VyraNode`, `ROS2Publisher`, `ROS2Subscriber`, `ROS2ServiceServer`, `ROS2ServiceClient`, `ROS2ActionServer`, `ROS2ActionClient`	Requires ROS2 + `rclpy`
Redis	`transport.t_redis`	`RedisProvider`, `RedisClient`	Requires `redis`
UDS	`transport.t_uds`	`UDSProvider`	No extra dependencies

Fallback chain: Zenoh → ROS2 → Redis → UDS

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External Layer ¶

Protocol	Module	Key Classes	Notes
gRPC	`external.grpc`	`GrpcServer`, `GrpcClient`	Requires `grpcio`
MQTT	`external.mqtt`	`MqttClient`	Requires `paho-mqtt`
REST	`external.rest`	`RestClient`	Requires `aiohttp`
WebSocket	`external.websocket`	`WebSocketClient`	Requires `websockets`
Shared Memory	`external.shared_memory`	`SharedMemorySegment`, `SharedMemorySerializer`, `SharedMemoryDiscovery`	Linux only; no extra deps

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Industrial Layer ¶

Protocol	Module	Key Classes	Notes
Modbus	`industrial.modbus`	TCP + RTU sub-modules	Requires `pymodbus`
OPC UA	`industrial.opcua`	`OpcuaClient`, `OpcuaServer`	Requires `asyncua`

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Feeders ¶

Class	Description
`BaseFeeder`	Abstract base for all feeders
`StateFeeder`	Publishes lifecycle + operational state changes
`NewsFeeder`	Publishes informational messages
`ErrorFeeder`	Publishes error reports
`AvailableModuleFeeder`	Publishes module availability (heartbeat/discovery)

Use feeders via the entity:

entity.publish_news("Ready")
entity.publish_error("Storage unavailable")

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Type System ¶

Type / Enum	Description
`ProtocolType`	All supported protocols (`ROS2`, `ZENOH`, `REDIS`, `UDS`, `MQTT`, `GRPC`, `REST`, `WEBSOCKET`, `SHARED_MEMORY`, `MODBUS`, `OPCUA`)
`InterfaceType`	Interface kinds: `SERVER`, `CLIENT`, `PUBLISHER`, `SUBSCRIBER`, `ACTION_SERVER`, `ACTION_CLIENT`
`AccessLevel`	Security access control: `PUBLIC`, `PROTECTED`, `PRIVATE`, `INTERNAL`
`ActionStatus`	Action result status: `SUCCEEDED`, `ABORTED`, `CANCELED`, `EXECUTING`
`VyraServer`	Type alias for a running service server
`VyraClient`	Type alias for a service client
`VyraPublisher`	Type alias for a publisher (has `.shout()` method)
`VyraSubscriber`	Type alias for a subscriber
`VyraActionServer`	Type alias for an action server
`VyraActionClient`	Type alias for an action client

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Topic Builder ¶

Generates consistent topic / service names following VYRA naming conventions.

from vyra_base.com import build_topic, parse_topic, InterfaceType

# Build a topic name
name = build_topic(namespace="my_module", name="temperature", interface_type=InterfaceType.PUBLISHER)
# → "my_module/temperature"

# Parse an existing topic back to its components
components = parse_topic("my_module/temperature")
print(components.namespace, components.name)

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Exceptions ¶

All exceptions live in vyra_base.com.core.exceptions.

from vyra_base.com import (
    CommunicationError,          # Base
    ProtocolUnavailableError,    # Protocol not installed / unreachable
    ProtocolNotInitializedError, # Protocol not set up yet
    TransportError,              # Low-level transport failure
    InterfaceError,              # Interface creation failed
    TServerError,                # Server runtime error
    TSubscriberError,            # Subscriber error
    ActionServerError,           # Action server error
)

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