Status Update: 2022-06-22

[haixuanTao]

In this discussion, we describe our recent progress and the main topics that we would like to discuss in today's meeting. We use a separate post for each topic to keep the discussion focused. Feel free to create new posts for topics that are not mentioned yet.

[haixuanTao]

OpenAtom Contest Proposal

See: https://hackmd.io/jNZudJjaT5qpLWi369n1Pg

[haixuanTao]

Follow up action:

• Make a quick resume about what dora is and what the vision is and how to contribute.

[haixuanTao]

Implementation Updates

Add Opentelemetry capabilities though capnproto messages

• Merged in Add Opentelemetry capabilities though capnproto messages #24

Create a C-API for operators and an example operator

C operators need to implement the following header file:

int dora_init_operator(void **operator_context);

void dora_drop_operator(void *operator_context);

int dora_on_input(
    const char *id_start,
    unsigned int id_len,
    const char *data_start,
    unsigned int data_len,
    const int (*output_fn_raw)(const char *id_start,
                               unsigned int id_len,
                               const char *data_start,
                               unsigned int data_len,
                               const void *output_context),
    void *output_context,
    const void *operator_context);

Implementation in #29

Add initial support for Python operators in runtime

Python operators are required to use the following interface:

def dora_init_operator():
    print('create python operator')
    return Operator()

class Operator:
    def dora_drop_operator(self):
        print('drop python operator')
    
    def dora_on_input(self, id, value, send_output):
        print(f'Python operator received input {id}; value length: {val_len}')
        send_output("output_name", val_len.to_bytes(1, 'little'))

Operator classes can use normal fields for storing state between calls. The send_output function can be called multiple times if the operators wants to send multiple outputs (or zero times if it does not want to send any output).

Implementation in #30

Updated dora-pylot to take into account dora change

Updated dora-pylot dependencies for the integration of carla leaderboard

dora-pylot is going to be renamed dora-drives

[haixuanTao]

Plans for 0.1 release

We track the remaining TODO items in this issue: #12

• dataflow/YAML spec
• Rust API
• Python API
  • Operators Add support for Python operators in runtime #30
  • Custom Nodes
• C API
  • Operators: Create a C-API for operators and an example operator #29
  • Custom Nodes
• command line
• demo use cases

Postponed:

• C++ API

We also plan to make the dora-rs repo public. For that, we will add a NOTICE.md file for the legal review process by Friday.