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fix(hardware): transport adapters follow the active pub/sub backend #4070

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Merged
mustafab0 merged 3 commits into from
Sep 13, 2026
Merged

fix(hardware): transport adapters follow the active pub/sub backend #4070

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53939f3
fix(hardware): transport adapters follow the active pub/sub backend
mustafab0 Sep 10, 2026
de018de
test: drop the added transport backend test
mustafab0 Sep 12, 2026
5d639c4
docs: trim the adapter factory docstrings back to one line
mustafab0 Sep 12, 2026
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7 changes: 4 additions & 3 deletions dimos/hardware/drive_trains/transport/adapter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,11 @@

from __future__ import annotations

from collections.abc import Callable
import threading
from typing import Any

from dimos.core.transport import LCMTransport
from dimos.core.transport_factory import make_transport
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Twist import Twist
from dimos.msgs.geometry_msgs.Vector3 import Vector3
Expand All @@ -43,7 +44,7 @@ def __init__(
self,
dof: int = 3,
hardware_id: str = "base",
transport_cls: type = LCMTransport,
transport_cls: Callable[[str, type], Any] = make_transport,
**_: object,
) -> None:
self._dof = dof
Expand Down Expand Up @@ -145,7 +146,7 @@ def _on_odom(self, msg: PoseStamped) -> None:

def transport_lcm_factory(**kwargs: Any) -> TransportTwistAdapter:
"""Factory for the ``transport_lcm`` adapter (see ``_registry.py``)."""
kwargs.setdefault("transport_cls", LCMTransport)
kwargs.setdefault("transport_cls", make_transport)
return TransportTwistAdapter(**kwargs)


Expand Down
7 changes: 4 additions & 3 deletions dimos/hardware/whole_body/transport/adapter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,10 +20,11 @@

from __future__ import annotations

from collections.abc import Callable
import threading
from typing import Any

from dimos.core.transport import LCMTransport
from dimos.core.transport_factory import make_transport
from dimos.hardware.spec import JointLimits
from dimos.hardware.whole_body.spec import IMUState, MotorCommand, MotorState
from dimos.msgs.sensor_msgs.Imu import Imu
Expand All @@ -41,7 +42,7 @@ def __init__(
self,
dof: int = 29,
hardware_id: str = "wholebody",
transport_cls: type = LCMTransport,
transport_cls: Callable[[str, type], Any] = make_transport,
network_interface: int | str = "", # accepted-and-ignored — see module docstring
**_: object,
) -> None:
Expand Down Expand Up @@ -184,7 +185,7 @@ def _on_imu(self, msg: Imu) -> None:

def transport_lcm_factory(**kwargs: Any) -> TransportWholeBodyAdapter:
"""Factory for the ``transport_lcm`` adapter (see ``_registry.py``)."""
kwargs.setdefault("transport_cls", LCMTransport)
kwargs.setdefault("transport_cls", make_transport)
return TransportWholeBodyAdapter(**kwargs)


Expand Down
3 changes: 0 additions & 3 deletions dimos/robot/galaxea/r1pro/blueprints/basic/r1pro_coordinator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@
from dimos.core.coordination.blueprints import Blueprint, TransportSpec, autoconnect
from dimos.core.global_config import global_config
from dimos.core.transport import ZenohTransport
from dimos.core.transport_factory import make_transport
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Twist import Twist
from dimos.msgs.nav_msgs.Odometry import Odometry
Expand Down Expand Up @@ -193,14 +192,12 @@ def r1pro_control(
hardware_type=HardwareType.WHOLE_BODY,
joints=R1PRO_UPPER_BODY_JOINTS,
adapter_type="transport_lcm",
adapter_kwargs={"transport_cls": make_transport},
),
HardwareComponent(
hardware_id="chassis",
hardware_type=HardwareType.BASE,
joints=_chassis_joints,
adapter_type="transport_lcm",
adapter_kwargs={"transport_cls": make_transport},
),
],
tasks=resolved_tasks,
Expand Down
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