README.md

Horus SDK

This repository contains the source code for the Horus SDK, which provides access to Horus services.

The SDK is available in two languages:

1. C++14, with (planned) Autosar compliance.
2. Python 3.8.

Dependencies

Building the SDK requires the following dependencies to be installed:

• clang >=10 or gcc >=9.4
  • Development happens with clang >=18 as it provides more checks.
• cmake >=3.20

C++

The source code of the C++ SDK lives in cpp, and is built using CMake. Clients should primarily use the horus::Sdk class defined in cpp/horus/sdk.h

Using the SDK

1. Add a CMake dependency to Horus. For instance, the code below uses FetchContent to import the Horus project from GitHub:

   include(FetchContent)
   
   FetchContent_Declare(horus
     GIT_REPOSITORY /~https://github.com/seoulrobotics/horus-sdk.git
     GIT_TAG        ...
     SOURCE_SUBDIR cpp
   )
   FetchContent_MakeAvailable(horus)

   The horus::sdk target can then be used:

   target_link_libraries(${target} horus::sdk)

2. Include horus/sdk.h to use the horus::Sdk class:

   #include "horus/sdk.h"
   
   horus::Sdk sdk;

   For usage documentation, see documentation comments on the horus::Sdk class and all the classes it refers to.

Examples for using the SDK exist in cpp/examples.

Note

The SDK is implemented using a library called horus::core, which defines all the RPC, concurrency, and Protobuf helpers used by the SDK. Unlike horus::sdk, this library makes no compatibility guarantees, and its API may change at any time.

Generally, APIs defined in horus/sdk.h and horus/sdk/*.h, as well as APIs indirectly exposed by these headers (e.g. pb::Log in horus::sdk::LogSubscriptionRequest) are stable. All other APIs (including external dependencies) are considered implementation details, and may change without notice.

Python

The source code of the Python SDK lives in py, and uses asyncio. See py/README.md for more information.

import asyncio
import horus

async def print_logs():
    sdk = horus.Sdk()

    async with sdk.subscribe_to_logs(on_log_message=print):
        ...

See py/examples/print_logs.py for an example.