From 9325f6afe501754a8b96132d87ece305f677f61d Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailinyu@Hyrule-Pro.localdomain>
Date: Mon, 9 Sep 2024 17:19:56 -0700
Subject: [PATCH 01/33] placeholder

---
 .../rule_modules/voltage.yml                  |  7 +++
 .../telemetry_config.py                       |  4 ++
 .../telemetry_configs/nostromo_lv_426.yml     |  5 ++
 .../lib/sift_py/ingestion/config/telemetry.py | 13 +++--
 .../lib/sift_py/ingestion/config/yaml/load.py | 53 +++++++++++++++++--
 5 files changed, 74 insertions(+), 8 deletions(-)
 create mode 100644 python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml

diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
new file mode 100644
index 00000000..2a2b5f27
--- /dev/null
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
@@ -0,0 +1,7 @@
+module_name: voltage
+
+rules:
+  - name: overvoltage
+    description: Checks for overvoltage while accelerating
+    expression: $1 == "Accelerating" && $2 > 80
+    type: review
\ No newline at end of file
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_config.py b/python/examples/ingestion_with_yaml_config/telemetry_config.py
index aab6a1ed..2dee0de4 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_config.py
+++ b/python/examples/ingestion_with_yaml_config/telemetry_config.py
@@ -5,6 +5,7 @@
 
 TELEMETRY_CONFIGS_DIR = Path().joinpath("telemetry_configs")
 EXPRESSION_MODULES_DIR = Path().joinpath("expression_modules")
+RULE_MODULES_DIR = Path().joinpath("rule_modules")
 
 
 def nostromos_lv_426() -> TelemetryConfig:
@@ -22,4 +23,7 @@ def nostromos_lv_426() -> TelemetryConfig:
             EXPRESSION_MODULES_DIR.joinpath("kinematics.yml"),
             EXPRESSION_MODULES_DIR.joinpath("string.yml"),
         ],
+        [
+            RULE_MODULES_DIR.joinpath("voltage.yml")
+        ],
     )
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
index 1a938eff..0d89e1ab 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
+++ b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
@@ -88,6 +88,11 @@ rules:
         - failure
         - nostromo
 
+  - name: voltage.overvoltage
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *voltage_channel
+ 
 flows:
   - name: readings
     channels:
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index ac1b1846..edda4f75 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -12,7 +12,7 @@
     ChannelEnumType,
     _channel_fqn,
 )
-from sift_py.ingestion.config.yaml.load import load_named_expression_modules, read_and_validate
+from sift_py.ingestion.config.yaml.load import load_named_expression_modules, load_named_rule_modules,read_and_validate
 from sift_py.ingestion.config.yaml.spec import TelemetryConfigYamlSpec
 from sift_py.ingestion.flow import FlowConfig
 from sift_py.ingestion.rule.config import (
@@ -111,6 +111,7 @@ def try_from_yaml(
         cls,
         path: Path,
         named_expression_modules: Optional[List[Path]] = None,
+        named_rule_modules: Optional[List[Path]] = None,
     ) -> Self:
         """
         Initializes a telemetry config from a YAML file found at the provided `path` as well as optional
@@ -119,17 +120,21 @@ def try_from_yaml(
 
         config_as_yaml = read_and_validate(path)
 
+        named_expressions = {}
+        named_rules = {}
         if named_expression_modules is not None:
             named_expressions = load_named_expression_modules(named_expression_modules)
-            return cls._from_yaml(config_as_yaml, named_expressions)
-        else:
-            return cls._from_yaml(config_as_yaml)
+        if named_rule_modules is not None:
+            named_rules = load_named_rule_modules(named_rule_modules)
+
+        return cls._from_yaml(config_as_yaml, named_expressions, named_rules)
 
     @classmethod
     def _from_yaml(
         cls,
         config_as_yaml: TelemetryConfigYamlSpec,
         named_expressions: Dict[str, str] = {},
+        named_rules: Dict[str, str] = {},  # TODO, do stuff with this
     ) -> Self:
         rules = []
         flows = []
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 7a3ed58a..b99f2a93 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -1,6 +1,6 @@
 import re
 from pathlib import Path
-from typing import Any, Dict, List, Type, cast
+from typing import Any, Dict, List, Type, Callable, cast
 
 import yaml
 
@@ -52,6 +52,28 @@ def load_named_expression_modules(paths: List[Path]) -> Dict[str, str]:
     return named_expressions
 
 
+def load_named_rule_modules(paths: List[Path]) -> Dict[str, str]: #TODO: Remove redundancy
+    """
+    Takes in a list of paths to YAML files which contains named expressions and processes them into a `dict`.
+    The key is the name of the expression and the value is the expression itself. For more information on
+    named expression modules see `sift_py.ingestion/config/yaml/spec.py
+    """
+
+    named_rules = {}
+
+    for path in paths:
+        named_expr_module = _read_named_rule_module_yaml(path)
+
+        for name, expr in named_expr_module.items():
+            if name in named_rules:
+                raise YamlConfigError(
+                    f"Encountered rules with identical names being loaded, '{name}'."
+                )
+            named_rules[name] = expr
+
+    return named_rules
+
+
 def _read_named_expression_module_yaml(path: Path) -> Dict[str, str]:
     with open(path, "r") as f:
         named_expressions = cast(Dict[Any, Any], yaml.safe_load(f.read()))
@@ -69,6 +91,28 @@ def _read_named_expression_module_yaml(path: Path) -> Dict[str, str]:
         return cast(Dict[str, str], named_expressions)
 
 
+def _read_named_rule_module_yaml(path: Path) -> Dict[str, Any]:
+    with open(path, "r") as f:
+        named_expressions = cast(Dict[Any, Any], yaml.safe_load(f.read()))
+
+        for key, value in named_expressions.items():
+            if not isinstance(key, str):
+                raise YamlConfigError(
+                    f"Expected '{key}' to be a string in named expression module '{path}'."
+                )
+            if key == "module_name" and not isinstance(value, str):  # TODO: Maybe make this nicer
+                raise YamlConfigError(
+                    f"Expected expression of '{key}' to be a string in named expression module '{path}'."
+                )
+            if key == "rules" and not isinstance(value, List):
+                raise YamlConfigError(
+                    f"Expected expression of '{key}' to be a list in named expression module '{path}'."
+                )
+
+
+        return cast(Dict[str, str], named_expressions)
+
+
 def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
     asset_name = raw_config.get("asset_name")
 
@@ -105,14 +149,14 @@ def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
     if rules is not None:
         if not isinstance(rules, list):
             raise YamlConfigError._invalid_property(
-                channels,
-                "channels",
+                channels,  # TODO: Should this be rules?
+                "channels",  # TODO: Should this be rules?
                 f"List[{_type_fqn(RuleYamlSpec)}]",
                 None,
             )
 
         for rule in cast(List[Any], rules):
-            _validate_rule(rule)
+            _validate_rule(rule)  # TODO: Update what runs here ?
 
     flows = raw_config.get("flows")
 
@@ -305,6 +349,7 @@ def _validate_rule(val: Any):
             "<class 'str'> | <class 'dict'>",
             ["rules"],
         )
+    # TODO: If None, assume it's a module
 
     rule_type = rule.get("type")
     valid_rule_types = [kind.value for kind in RuleActionAnnotationKind]

From b1f3388b690db6b1ec958e310e4b27b956be57e1 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailinyu@Hyrule-Pro.localdomain>
Date: Mon, 9 Sep 2024 17:24:54 -0700
Subject: [PATCH 02/33] lint & format

---
 .../ingestion_with_yaml_config/telemetry_config.py         | 4 +---
 python/lib/sift_py/ingestion/config/telemetry.py           | 6 +++++-
 python/lib/sift_py/ingestion/config/yaml/load.py           | 7 +++----
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/telemetry_config.py b/python/examples/ingestion_with_yaml_config/telemetry_config.py
index 2dee0de4..faa53cda 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_config.py
+++ b/python/examples/ingestion_with_yaml_config/telemetry_config.py
@@ -23,7 +23,5 @@ def nostromos_lv_426() -> TelemetryConfig:
             EXPRESSION_MODULES_DIR.joinpath("kinematics.yml"),
             EXPRESSION_MODULES_DIR.joinpath("string.yml"),
         ],
-        [
-            RULE_MODULES_DIR.joinpath("voltage.yml")
-        ],
+        [RULE_MODULES_DIR.joinpath("voltage.yml")],
     )
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index edda4f75..9ad73e78 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -12,7 +12,11 @@
     ChannelEnumType,
     _channel_fqn,
 )
-from sift_py.ingestion.config.yaml.load import load_named_expression_modules, load_named_rule_modules,read_and_validate
+from sift_py.ingestion.config.yaml.load import (
+    load_named_expression_modules,
+    load_named_rule_modules,
+    read_and_validate,
+)
 from sift_py.ingestion.config.yaml.spec import TelemetryConfigYamlSpec
 from sift_py.ingestion.flow import FlowConfig
 from sift_py.ingestion.rule.config import (
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index b99f2a93..f70362e6 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -1,6 +1,6 @@
 import re
 from pathlib import Path
-from typing import Any, Dict, List, Type, Callable, cast
+from typing import Any, Dict, List, Type, cast
 
 import yaml
 
@@ -52,7 +52,7 @@ def load_named_expression_modules(paths: List[Path]) -> Dict[str, str]:
     return named_expressions
 
 
-def load_named_rule_modules(paths: List[Path]) -> Dict[str, str]: #TODO: Remove redundancy
+def load_named_rule_modules(paths: List[Path]) -> Dict[str, str]:  # TODO: Remove redundancy
     """
     Takes in a list of paths to YAML files which contains named expressions and processes them into a `dict`.
     The key is the name of the expression and the value is the expression itself. For more information on
@@ -109,7 +109,6 @@ def _read_named_rule_module_yaml(path: Path) -> Dict[str, Any]:
                     f"Expected expression of '{key}' to be a list in named expression module '{path}'."
                 )
 
-
         return cast(Dict[str, str], named_expressions)
 
 
@@ -317,6 +316,7 @@ def _validate_bit_field_element(val: Any):
 
 
 def _validate_rule(val: Any):
+    # TODO: Only name and channel_references if referencing a module
     rule = cast(Dict[Any, Any], val)
 
     name = rule.get("name")
@@ -349,7 +349,6 @@ def _validate_rule(val: Any):
             "<class 'str'> | <class 'dict'>",
             ["rules"],
         )
-    # TODO: If None, assume it's a module
 
     rule_type = rule.get("type")
     valid_rule_types = [kind.value for kind in RuleActionAnnotationKind]

From b06ac427603b3e8d3c84e1db24706dd6f0d8d0e5 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Tue, 17 Sep 2024 15:24:57 -0700
Subject: [PATCH 03/33] placeholder while I have internet

---
 .../rule_modules/voltage.yml                  |  2 +-
 .../telemetry_configs/nostromo_lv_426.yml     |  3 +-
 .../lib/sift_py/ingestion/config/yaml/load.py | 57 ++++++++++++++-----
 .../ingestion/config/yaml/test_load.py        | 12 ++++
 4 files changed, 57 insertions(+), 17 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
index 2a2b5f27..724ad92f 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
@@ -1,4 +1,4 @@
-module_name: voltage
+namespace: voltage
 
 rules:
   - name: overvoltage
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
index 0d89e1ab..f39ff665 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
+++ b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
@@ -88,7 +88,8 @@ rules:
         - failure
         - nostromo
 
-  - name: voltage.overvoltage
+  - namespace: voltage
+    name: overvoltage
     channel_references:
       - $1: *vehicle_state_channel
       - $2: *voltage_channel
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index f70362e6..3dbaefe9 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -57,6 +57,12 @@ def load_named_rule_modules(paths: List[Path]) -> Dict[str, str]:  # TODO: Remov
     Takes in a list of paths to YAML files which contains named expressions and processes them into a `dict`.
     The key is the name of the expression and the value is the expression itself. For more information on
     named expression modules see `sift_py.ingestion/config/yaml/spec.py
+
+    TODO:
+        check if file or directory
+        open file or iterate through files in directory
+        ensure no duplicated namespaces
+        reassemble into namespace.name format
     """
 
     named_rules = {}
@@ -92,6 +98,14 @@ def _read_named_expression_module_yaml(path: Path) -> Dict[str, str]:
 
 
 def _read_named_rule_module_yaml(path: Path) -> Dict[str, Any]:
+    """
+    TODO
+    - ensure namespace is a string
+    - get list of rules
+    - ensure namespace key isn't in this list
+    - call _validate_rules()
+    - return dict of { namespace: { rules }} for reassembly
+    """
     with open(path, "r") as f:
         named_expressions = cast(Dict[Any, Any], yaml.safe_load(f.read()))
 
@@ -316,14 +330,41 @@ def _validate_bit_field_element(val: Any):
 
 
 def _validate_rule(val: Any):
-    # TODO: Only name and channel_references if referencing a module
     rule = cast(Dict[Any, Any], val)
 
+    namespace = rule.get("namespace")
+    if namespace is not None and not isinstance(namespace, str):
+        raise YamlConfigError._invalid_property(
+            namespace,
+            "- namespace",
+            "str",
+            ["rules"],
+        )
+
     name = rule.get("name")
 
     if not isinstance(name, str):
         raise YamlConfigError._invalid_property(name, "- name", "str", ["rules"])
 
+    channel_references = rule.get("channel_references")
+
+    if namespace or (channel_references is not None):
+        if not isinstance(channel_references, list):
+            raise YamlConfigError._invalid_property(
+                channel_references,
+                "- channel_references",
+                f"List[Dict[str, {_type_fqn(ChannelConfigYamlSpec)}]]",
+                ["rules"],
+            )
+
+        for channel_reference in cast(List[Any], channel_references):
+            _validate_channel_reference(channel_reference)
+
+    if namespace:
+        # TODO: Probably should inform the user that the below keys
+        # belong in the referenced namespace instead of doing this
+        return
+
     description = rule.get("description")
 
     if description is not None and not isinstance(description, str):
@@ -381,20 +422,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-    channel_references = rule.get("channel_references")
-
-    if channel_references is not None:
-        if not isinstance(channel_references, list):
-            raise YamlConfigError._invalid_property(
-                channel_references,
-                "- channel_references",
-                f"List[Dict[str, {_type_fqn(ChannelConfigYamlSpec)}]]",
-                ["rules"],
-            )
-
-        for channel_reference in cast(List[Any], channel_references):
-            _validate_channel_reference(channel_reference)
-
     sub_expressions = rule.get("sub_expressions")
 
     if sub_expressions is not None:
diff --git a/python/lib/sift_py/ingestion/config/yaml/test_load.py b/python/lib/sift_py/ingestion/config/yaml/test_load.py
index ea80403b..f6cbf9e7 100644
--- a/python/lib/sift_py/ingestion/config/yaml/test_load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/test_load.py
@@ -199,6 +199,18 @@ def test__validate_rule():
         }
     )
 
+    # Rule in referenced namespace
+    load._validate_rule(
+        {
+            "namespace": "voltage",
+            "name": "overvoltage_rule",
+            "channel_references": [
+                {"$1": {"name": "voltage", "data_type": "double"}},
+                {"$2": {"name": "vehicle_state", "data_type": "double"}},
+            ],
+        }
+    )
+
     with pytest.raises(YamlConfigError, match="Expected 'name' to be <str> but it is <int>"):
         load._validate_rule(
             {

From f13b3f2541611e0f0ed4a1916d1da42c9aa0757c Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 18 Sep 2024 09:05:06 -0700
Subject: [PATCH 04/33] placeholder while I have internet

---
 .../lib/sift_py/ingestion/config/telemetry.py | 23 +++--
 .../lib/sift_py/ingestion/config/yaml/load.py | 88 ++++++++++---------
 2 files changed, 63 insertions(+), 48 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index 9ad73e78..fcfd4155 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -14,7 +14,7 @@
 )
 from sift_py.ingestion.config.yaml.load import (
     load_named_expression_modules,
-    load_named_rule_modules,
+    load_rule_namespaces,
     read_and_validate,
 )
 from sift_py.ingestion.config.yaml.spec import TelemetryConfigYamlSpec
@@ -125,20 +125,20 @@ def try_from_yaml(
         config_as_yaml = read_and_validate(path)
 
         named_expressions = {}
-        named_rules = {}
+        rule_namespaces = {}
         if named_expression_modules is not None:
             named_expressions = load_named_expression_modules(named_expression_modules)
         if named_rule_modules is not None:
-            named_rules = load_named_rule_modules(named_rule_modules)
+            rule_namespaces = load_rule_namespaces(named_rule_modules)
 
-        return cls._from_yaml(config_as_yaml, named_expressions, named_rules)
+        return cls._from_yaml(config_as_yaml, named_expressions, rule_namespaces)
 
     @classmethod
     def _from_yaml(
         cls,
         config_as_yaml: TelemetryConfigYamlSpec,
         named_expressions: Dict[str, str] = {},
-        named_rules: Dict[str, str] = {},  # TODO, do stuff with this
+        rule_namespaces: Dict[str, List] = {},  # TODO, do stuff with this
     ) -> Self:
         rules = []
         flows = []
@@ -188,6 +188,19 @@ def _from_yaml(
             )
 
         for rule in config_as_yaml.get("rules", []):
+            # TODO: Handle rules here; assemble rules from namespace keys
+            namespace = rule.get("namespace")
+
+            if namespace:
+                rule_namespace = rule_namespaces.get(str(namespace))
+                if not rule_namespace:
+                     # TODO: This is a placeholder.
+                     # Maybe we should try and catch this earlier?
+                     # Otherwise what happens if the namespace doesn't exist?
+                    raise ValueError(f"Could not find namespace {namespace}")
+                for rule_from_namespace in rule_namespace:
+                    pass # Match on name
+
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
 
             tags = rule.get("tags")
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 3dbaefe9..87a09afd 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -52,32 +52,32 @@ def load_named_expression_modules(paths: List[Path]) -> Dict[str, str]:
     return named_expressions
 
 
-def load_named_rule_modules(paths: List[Path]) -> Dict[str, str]:  # TODO: Remove redundancy
+def load_rule_namespaces(paths: List[Path]) -> Dict[str, List]:
     """
-    Takes in a list of paths to YAML files which contains named expressions and processes them into a `dict`.
-    The key is the name of the expression and the value is the expression itself. For more information on
-    named expression modules see `sift_py.ingestion/config/yaml/spec.py
-
-    TODO:
-        check if file or directory
-        open file or iterate through files in directory
-        ensure no duplicated namespaces
-        reassemble into namespace.name format
+    TODO: A nice docstring
     """
 
-    named_rules = {}
+    rule_namespaces: Dict[str, List] = {}
 
-    for path in paths:
-        named_expr_module = _read_named_rule_module_yaml(path)
+    def update_rule_namespaces(rule_module_path: Path):
+        rule_module = _read_rule_namespace_yaml(rule_module_path)
 
-        for name, expr in named_expr_module.items():
-            if name in named_rules:
+        for key in rule_module.keys():
+            if key in rule_namespaces:
                 raise YamlConfigError(
-                    f"Encountered rules with identical names being loaded, '{name}'."
+                    f"Encountered rules with identical names being loaded, '{key}'."
                 )
-            named_rules[name] = expr
 
-    return named_rules
+        rule_namespaces.update(rule_module)
+
+    for path in paths:
+        if path.is_dir():
+            for rule_file in path.iterdir():
+                update_rule_namespaces(rule_file)
+        elif path.is_file():
+            update_rule_namespaces(path)
+
+    return rule_namespaces
 
 
 def _read_named_expression_module_yaml(path: Path) -> Dict[str, str]:
@@ -97,33 +97,35 @@ def _read_named_expression_module_yaml(path: Path) -> Dict[str, str]:
         return cast(Dict[str, str], named_expressions)
 
 
-def _read_named_rule_module_yaml(path: Path) -> Dict[str, Any]:
-    """
-    TODO
-    - ensure namespace is a string
-    - get list of rules
-    - ensure namespace key isn't in this list
-    - call _validate_rules()
-    - return dict of { namespace: { rules }} for reassembly
-    """
+def _read_rule_namespace_yaml(path: Path) -> Dict[str, List]:
     with open(path, "r") as f:
-        named_expressions = cast(Dict[Any, Any], yaml.safe_load(f.read()))
+        namespace_rules = cast(Dict[Any, Any], yaml.safe_load(f.read()))
+        namespace = namespace_rules.get("namespace")
 
-        for key, value in named_expressions.items():
-            if not isinstance(key, str):
-                raise YamlConfigError(
-                    f"Expected '{key}' to be a string in named expression module '{path}'."
-                )
-            if key == "module_name" and not isinstance(value, str):  # TODO: Maybe make this nicer
-                raise YamlConfigError(
-                    f"Expected expression of '{key}' to be a string in named expression module '{path}'."
-                )
-            if key == "rules" and not isinstance(value, List):
-                raise YamlConfigError(
-                    f"Expected expression of '{key}' to be a list in named expression module '{path}'."
-                )
+        if not isinstance(namespace, str):
+            raise YamlConfigError(
+                f"Expected '{namespace} to be a string in rule namespace yaml: '{path}'"
+            )
 
-        return cast(Dict[str, str], named_expressions)
+        rules = namespace_rules.get("rules")
+        if not isinstance(namespace, str):
+            raise YamlConfigError(
+                f"Expected '{rules}' to be a list in rule namespace yaml: '{path}'"
+            )
+
+        for rule in cast(List[Any], rules):
+           nested_namespace = rule.get("namespace")
+           if nested_namespace:  # TODO: Do we want to allow this?
+               raise YamlConfigError(
+                   "Rules referencing other namespaces cannot be nested. "
+                   f"Found nested namespace '{nested_namespace}' in '{path}'. "
+               )
+           _validate_rule(rule)
+
+        # TODO: This format just seemed easier to work with... it does seem to
+        # sort of break from the pattern since everything else I think keeps the
+        # YAML format intact. Will come back and give this a think.
+        return {namespace: cast(List[Any], rules)}
 
 
 def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
@@ -169,7 +171,7 @@ def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
             )
 
         for rule in cast(List[Any], rules):
-            _validate_rule(rule)  # TODO: Update what runs here ?
+            _validate_rule(rule)
 
     flows = raw_config.get("flows")
 

From a6359df80798ae59ec6af782a5a9f1688bb95347 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 18 Sep 2024 19:50:49 -0700
Subject: [PATCH 05/33] fill in examples a bit and add logic to telemetry

---
 .../rule_modules/velocity.yml                 | 11 ++++++++++
 .../rule_modules/voltage.yml                  |  6 +++++-
 .../telemetry_configs/nostromo_lv_426.yml     | 20 ++++++++++++++++++-
 .../lib/sift_py/ingestion/config/telemetry.py |  9 +++++++--
 .../lib/sift_py/ingestion/config/yaml/load.py |  7 ++++---
 5 files changed, 46 insertions(+), 7 deletions(-)
 create mode 100644 python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml

diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
new file mode 100644
index 00000000..63a13edd
--- /dev/null
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
@@ -0,0 +1,11 @@
+namespace: velocity
+
+rules:
+  - name: vehicle_stuck
+    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
+    expression: $1 == "Accelerating" && persistence($2 > 0, 5)
+    type: review
+
+  - name: vehicle_not_stopped
+    description: Makes sure vehicle velocity remains 0 while stopped
+    expression: $1 == "Stopped" && $2 > 0
diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
index 724ad92f..c99ae8bb 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
@@ -4,4 +4,8 @@ rules:
   - name: overvoltage
     description: Checks for overvoltage while accelerating
     expression: $1 == "Accelerating" && $2 > 80
-    type: review
\ No newline at end of file
+    type: review
+
+  - name: undervoltage
+    description: Checks for undervoltage while accelerating
+    expression: $1 == "Accelerating" && $2 < 40
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
index f39ff665..b3c64a8b 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
+++ b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
@@ -93,7 +93,25 @@ rules:
     channel_references:
       - $1: *vehicle_state_channel
       - $2: *voltage_channel
- 
+
+  - namespace: voltage
+    name: undervoltage
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *voltage_channel
+
+  - namespace: velocity
+    name: vehicle_stuck
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *velocity_channel
+
+  - namespace: velocity
+    name: vehicle_not_stopped
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *velocity_channel
+
 flows:
   - name: readings
     channels:
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index fcfd4155..fb4c4b3f 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -188,7 +188,6 @@ def _from_yaml(
             )
 
         for rule in config_as_yaml.get("rules", []):
-            # TODO: Handle rules here; assemble rules from namespace keys
             namespace = rule.get("namespace")
 
             if namespace:
@@ -198,8 +197,14 @@ def _from_yaml(
                      # Maybe we should try and catch this earlier?
                      # Otherwise what happens if the namespace doesn't exist?
                     raise ValueError(f"Could not find namespace {namespace}")
+
+                found_rule = None
                 for rule_from_namespace in rule_namespace:
-                    pass # Match on name
+                    if rule["name"] == rule_from_namespace["name"]:
+                        found_rule = rule_from_namespace
+                if not found_rule:
+                     # TODO: Maybe we should try and catch this earlier?
+                    raise ValueError(f"Could not find rule name {rule['name']} in {namespace}")
 
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
 
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 87a09afd..2cfb458d 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -122,9 +122,10 @@ def _read_rule_namespace_yaml(path: Path) -> Dict[str, List]:
                )
            _validate_rule(rule)
 
-        # TODO: This format just seemed easier to work with... it does seem to
-        # sort of break from the pattern since everything else I think keeps the
-        # YAML format intact. Will come back and give this a think.
+        # TODO: This format just seemed easier to work with... it does feel like
+        # sort of breaks from patterns elsewhere here since everything else I think
+        # keeps the YAML format "intact" after reading into memory.
+        # Will come back and give this a think.
         return {namespace: cast(List[Any], rules)}
 
 

From 1061b0a88d36f54ea6da636378ddd0fb17f5368f Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 18 Sep 2024 19:51:20 -0700
Subject: [PATCH 06/33] chore: fmt

---
 python/lib/sift_py/ingestion/config/telemetry.py |  8 ++++----
 python/lib/sift_py/ingestion/config/yaml/load.py | 14 +++++++-------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index fb4c4b3f..61a3e7f0 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -193,9 +193,9 @@ def _from_yaml(
             if namespace:
                 rule_namespace = rule_namespaces.get(str(namespace))
                 if not rule_namespace:
-                     # TODO: This is a placeholder.
-                     # Maybe we should try and catch this earlier?
-                     # Otherwise what happens if the namespace doesn't exist?
+                    # TODO: This is a placeholder.
+                    # Maybe we should try and catch this earlier?
+                    # Otherwise what happens if the namespace doesn't exist?
                     raise ValueError(f"Could not find namespace {namespace}")
 
                 found_rule = None
@@ -203,7 +203,7 @@ def _from_yaml(
                     if rule["name"] == rule_from_namespace["name"]:
                         found_rule = rule_from_namespace
                 if not found_rule:
-                     # TODO: Maybe we should try and catch this earlier?
+                    # TODO: Maybe we should try and catch this earlier?
                     raise ValueError(f"Could not find rule name {rule['name']} in {namespace}")
 
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 2cfb458d..ccdc8c1b 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -114,13 +114,13 @@ def _read_rule_namespace_yaml(path: Path) -> Dict[str, List]:
             )
 
         for rule in cast(List[Any], rules):
-           nested_namespace = rule.get("namespace")
-           if nested_namespace:  # TODO: Do we want to allow this?
-               raise YamlConfigError(
-                   "Rules referencing other namespaces cannot be nested. "
-                   f"Found nested namespace '{nested_namespace}' in '{path}'. "
-               )
-           _validate_rule(rule)
+            nested_namespace = rule.get("namespace")
+            if nested_namespace:  # TODO: Do we want to allow this?
+                raise YamlConfigError(
+                    "Rules referencing other namespaces cannot be nested. "
+                    f"Found nested namespace '{nested_namespace}' in '{path}'. "
+                )
+            _validate_rule(rule)
 
         # TODO: This format just seemed easier to work with... it does feel like
         # sort of breaks from patterns elsewhere here since everything else I think

From bf15663f6ad43b0e9fb6723dc678e93a6e3537c2 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 18 Sep 2024 20:14:50 -0700
Subject: [PATCH 07/33] fixed example

---
 .../ingestion_with_yaml_config/rule_modules/velocity.yml      | 1 +
 .../ingestion_with_yaml_config/rule_modules/voltage.yml       | 1 +
 .../examples/ingestion_with_yaml_config/telemetry_config.py   | 4 ++--
 python/lib/sift_py/ingestion/config/telemetry.py              | 1 +
 4 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
index 63a13edd..2e82617b 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
@@ -9,3 +9,4 @@ rules:
   - name: vehicle_not_stopped
     description: Makes sure vehicle velocity remains 0 while stopped
     expression: $1 == "Stopped" && $2 > 0
+    type: review
diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
index c99ae8bb..b47e7216 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/voltage.yml
@@ -9,3 +9,4 @@ rules:
   - name: undervoltage
     description: Checks for undervoltage while accelerating
     expression: $1 == "Accelerating" && $2 < 40
+    type: review
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_config.py b/python/examples/ingestion_with_yaml_config/telemetry_config.py
index faa53cda..653e70db 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_config.py
+++ b/python/examples/ingestion_with_yaml_config/telemetry_config.py
@@ -16,12 +16,12 @@ def nostromos_lv_426() -> TelemetryConfig:
 
     telemetry_config_path = TELEMETRY_CONFIGS_DIR.joinpath(telemetry_config_name)
 
-    # Load your telemetry config with your reusable expressions modules
+    # Load your telemetry config with your reusable expressions modules and rule modules
     return TelemetryConfig.try_from_yaml(
         telemetry_config_path,
         [
             EXPRESSION_MODULES_DIR.joinpath("kinematics.yml"),
             EXPRESSION_MODULES_DIR.joinpath("string.yml"),
         ],
-        [RULE_MODULES_DIR.joinpath("voltage.yml")],
+        [RULE_MODULES_DIR],
     )
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index 61a3e7f0..1f805a8f 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -205,6 +205,7 @@ def _from_yaml(
                 if not found_rule:
                     # TODO: Maybe we should try and catch this earlier?
                     raise ValueError(f"Could not find rule name {rule['name']} in {namespace}")
+                rule = found_rule
 
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
 

From 8a57f752c5382c56fdc8c4b44903c5979aad2703 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 19 Sep 2024 12:01:24 -0500
Subject: [PATCH 08/33] chore: cleanups

---
 .vscode/settings.json                                      | 7 +++++++
 .../ingestion_with_yaml_config/rule_modules/velocity.yml   | 2 +-
 python/lib/sift_py/ingestion/config/telemetry.py           | 2 +-
 3 files changed, 9 insertions(+), 2 deletions(-)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 00000000..ca73e537
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,7 @@
+{
+    "python.testing.pytestArgs": [
+        "python"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true
+}
\ No newline at end of file
diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
index 2e82617b..8ecd08a7 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
@@ -3,7 +3,7 @@ namespace: velocity
 rules:
   - name: vehicle_stuck
     description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
-    expression: $1 == "Accelerating" && persistence($2 > 0, 5)
+    expression: $1 == "Accelerating" && persistence($2 = 0, 5)
     type: review
 
   - name: vehicle_not_stopped
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index 1f805a8f..b739fe84 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -138,7 +138,7 @@ def _from_yaml(
         cls,
         config_as_yaml: TelemetryConfigYamlSpec,
         named_expressions: Dict[str, str] = {},
-        rule_namespaces: Dict[str, List] = {},  # TODO, do stuff with this
+        rule_namespaces: Dict[str, List] = {},
     ) -> Self:
         rules = []
         flows = []

From f7b1d7ea15e78f101a53be707c22ecfd15e392cc Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 27 Sep 2024 11:21:04 -0700
Subject: [PATCH 09/33] chore: cleanups

---
 python/lib/sift_py/ingestion/config/yaml/load.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index ccdc8c1b..1f1879cf 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -165,8 +165,8 @@ def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
     if rules is not None:
         if not isinstance(rules, list):
             raise YamlConfigError._invalid_property(
-                channels,  # TODO: Should this be rules?
-                "channels",  # TODO: Should this be rules?
+                rules,
+                "rules",
                 f"List[{_type_fqn(RuleYamlSpec)}]",
                 None,
             )

From e20b58e65be5d9edcde1206da6ed131e3ffa04d2 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 27 Sep 2024 11:26:08 -0700
Subject: [PATCH 10/33] chore: RuleModuleYamlSpec placeholder

---
 python/lib/sift_py/ingestion/config/yaml/load.py | 3 ++-
 python/lib/sift_py/ingestion/config/yaml/spec.py | 9 +++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 1f1879cf..18367cb9 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -12,6 +12,7 @@
     ChannelEnumTypeYamlSpec,
     FlowYamlSpec,
     RuleYamlSpec,
+    RuleModuleYamlSpec,
     TelemetryConfigYamlSpec,
 )
 from sift_py.ingestion.rule.config import RuleActionAnnotationKind
@@ -167,7 +168,7 @@ def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
             raise YamlConfigError._invalid_property(
                 rules,
                 "rules",
-                f"List[{_type_fqn(RuleYamlSpec)}]",
+                f"List[{_type_fqn(RuleYamlSpec)}] or List[{_type_fqn(RuleModuleYamlSpec)}]",
                 None,
             )
 
diff --git a/python/lib/sift_py/ingestion/config/yaml/spec.py b/python/lib/sift_py/ingestion/config/yaml/spec.py
index 4a024c91..11c229bd 100644
--- a/python/lib/sift_py/ingestion/config/yaml/spec.py
+++ b/python/lib/sift_py/ingestion/config/yaml/spec.py
@@ -90,6 +90,15 @@ class FlowYamlSpec(TypedDict):
     channels: List[ChannelConfigYamlSpec]
 
 
+class RuleModuleYamlSpec(TypedDict):
+    """
+    TODO: A nice docstring
+    """
+    name: str
+    namespace: str
+    channel_references: NotRequired[List[Dict[str, ChannelConfigYamlSpec]]]
+
+
 class RuleYamlSpec(TypedDict):
     """
     The formal definition of what a single rule looks like in YAML.

From 84079e090de6546a141661e6a33a15ba820df20c Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 27 Sep 2024 11:33:13 -0700
Subject: [PATCH 11/33] chore: lint/fmt

---
 python/lib/sift_py/ingestion/config/yaml/load.py | 2 +-
 python/lib/sift_py/ingestion/config/yaml/spec.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 18367cb9..8a76e8e8 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -11,8 +11,8 @@
     ChannelConfigYamlSpec,
     ChannelEnumTypeYamlSpec,
     FlowYamlSpec,
-    RuleYamlSpec,
     RuleModuleYamlSpec,
+    RuleYamlSpec,
     TelemetryConfigYamlSpec,
 )
 from sift_py.ingestion.rule.config import RuleActionAnnotationKind
diff --git a/python/lib/sift_py/ingestion/config/yaml/spec.py b/python/lib/sift_py/ingestion/config/yaml/spec.py
index 11c229bd..8fb91a68 100644
--- a/python/lib/sift_py/ingestion/config/yaml/spec.py
+++ b/python/lib/sift_py/ingestion/config/yaml/spec.py
@@ -94,6 +94,7 @@ class RuleModuleYamlSpec(TypedDict):
     """
     TODO: A nice docstring
     """
+
     name: str
     namespace: str
     channel_references: NotRequired[List[Dict[str, ChannelConfigYamlSpec]]]

From 9d249d91876c5d6f3c8f0628e52bbd31360eff36 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Mon, 30 Sep 2024 15:13:10 -0700
Subject: [PATCH 12/33] chore: Add vscode files to gitignore

---
 .gitignore            | 2 ++
 .vscode/settings.json | 7 -------
 2 files changed, 2 insertions(+), 7 deletions(-)
 delete mode 100644 .vscode/settings.json

diff --git a/.gitignore b/.gitignore
index 360e31ef..94b79289 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,3 +18,5 @@ python/protos/**/*
 python/build
 python/docs/sift_py
 *.egg-info/
+
+.vscode/*
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index ca73e537..00000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-    "python.testing.pytestArgs": [
-        "python"
-    ],
-    "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true
-}
\ No newline at end of file

From 890178925c38f3f6a420d344f9dcf8a585d42e18 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Tue, 1 Oct 2024 16:51:33 -0700
Subject: [PATCH 13/33] chore: Cleanup TODOs & add docs

---
 .../lib/sift_py/ingestion/config/telemetry.py |  8 +---
 .../lib/sift_py/ingestion/config/yaml/load.py | 40 ++++++++++---------
 .../lib/sift_py/ingestion/config/yaml/spec.py | 12 ++++--
 3 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index b739fe84..a1a062a0 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -193,18 +193,14 @@ def _from_yaml(
             if namespace:
                 rule_namespace = rule_namespaces.get(str(namespace))
                 if not rule_namespace:
-                    # TODO: This is a placeholder.
-                    # Maybe we should try and catch this earlier?
-                    # Otherwise what happens if the namespace doesn't exist?
-                    raise ValueError(f"Could not find namespace {namespace}")
+                    raise TelemetryConfigValidationError(f"Could not find namespace {namespace}")
 
                 found_rule = None
                 for rule_from_namespace in rule_namespace:
                     if rule["name"] == rule_from_namespace["name"]:
                         found_rule = rule_from_namespace
                 if not found_rule:
-                    # TODO: Maybe we should try and catch this earlier?
-                    raise ValueError(f"Could not find rule name {rule['name']} in {namespace}")
+                    raise TelemetryConfigValidationError(f"Could not find rule name {rule['name']} in {namespace}")
                 rule = found_rule
 
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 8a76e8e8..01407be2 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -11,7 +11,7 @@
     ChannelConfigYamlSpec,
     ChannelEnumTypeYamlSpec,
     FlowYamlSpec,
-    RuleModuleYamlSpec,
+    RuleNamespaceYamlSpec,
     RuleYamlSpec,
     TelemetryConfigYamlSpec,
 )
@@ -35,7 +35,7 @@ def load_named_expression_modules(paths: List[Path]) -> Dict[str, str]:
     """
     Takes in a list of paths to YAML files which contains named expressions and processes them into a `dict`.
     The key is the name of the expression and the value is the expression itself. For more information on
-    named expression modules see `sift_py.ingestion/config/yaml/spec.py
+    named expression modules see `sift_py.ingestion/config/yaml/spec.py`.
     """
 
     named_expressions = {}
@@ -55,7 +55,9 @@ def load_named_expression_modules(paths: List[Path]) -> Dict[str, str]:
 
 def load_rule_namespaces(paths: List[Path]) -> Dict[str, List]:
     """
-    TODO: A nice docstring
+    Takes in a list of paths which may either be directories or files containing rule namespace YAML files,
+    and processes them into a `dict`. For more information on rule namespaces see
+    RuleNamespaceYamlSpec in `sift_py.ingestion/config/yaml/spec.py`.
     """
 
     rule_namespaces: Dict[str, List] = {}
@@ -106,27 +108,25 @@ def _read_rule_namespace_yaml(path: Path) -> Dict[str, List]:
         if not isinstance(namespace, str):
             raise YamlConfigError(
                 f"Expected '{namespace} to be a string in rule namespace yaml: '{path}'"
+                f"{_type_fqn(RuleNamespaceYamlSpec)}"
             )
 
         rules = namespace_rules.get("rules")
         if not isinstance(namespace, str):
             raise YamlConfigError(
                 f"Expected '{rules}' to be a list in rule namespace yaml: '{path}'"
+                f"{_type_fqn(RuleNamespaceYamlSpec)}"
             )
 
         for rule in cast(List[Any], rules):
             nested_namespace = rule.get("namespace")
-            if nested_namespace:  # TODO: Do we want to allow this?
+            if nested_namespace:
                 raise YamlConfigError(
                     "Rules referencing other namespaces cannot be nested. "
                     f"Found nested namespace '{nested_namespace}' in '{path}'. "
                 )
             _validate_rule(rule)
 
-        # TODO: This format just seemed easier to work with... it does feel like
-        # sort of breaks from patterns elsewhere here since everything else I think
-        # keeps the YAML format "intact" after reading into memory.
-        # Will come back and give this a think.
         return {namespace: cast(List[Any], rules)}
 
 
@@ -168,7 +168,7 @@ def _validate_yaml(raw_config: Dict[Any, Any]) -> TelemetryConfigYamlSpec:
             raise YamlConfigError._invalid_property(
                 rules,
                 "rules",
-                f"List[{_type_fqn(RuleYamlSpec)}] or List[{_type_fqn(RuleModuleYamlSpec)}]",
+                f"List[{_type_fqn(RuleYamlSpec)}]",
                 None,
             )
 
@@ -364,17 +364,25 @@ def _validate_rule(val: Any):
         for channel_reference in cast(List[Any], channel_references):
             _validate_channel_reference(channel_reference)
 
+    description = rule.get("description")
+    expression = rule.get("expression")
+    rule_type = rule.get("type")
+    assignee = rule.get("assignee")
+    tags = rule.get("tags")
+    sub_expressions = rule.get("sub_expressions")
+
     if namespace:
-        # TODO: Probably should inform the user that the below keys
-        # belong in the referenced namespace instead of doing this
+        if any([description, expression, rule_type, assignee, tags, sub_expressions]):
+            raise YamlConfigError(
+                f"Rule '{name}' is a namespace and should not have any other properties set. "
+                "Properties 'description', 'expression', 'type', 'assignee', 'tags', and 'sub_expressions' "
+                "may be defined in the referenced namespace."
+            )
         return
 
-    description = rule.get("description")
-
     if description is not None and not isinstance(description, str):
         raise YamlConfigError._invalid_property(description, "- description", "str", ["rules"])
 
-    expression = rule.get("expression")
 
     if isinstance(expression, dict):
         expression_name = cast(Dict[Any, Any], expression).get("name")
@@ -395,7 +403,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-    rule_type = rule.get("type")
     valid_rule_types = [kind.value for kind in RuleActionAnnotationKind]
 
     if rule_type not in valid_rule_types:
@@ -406,7 +413,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-    assignee = rule.get("assignee")
 
     if assignee is not None and not isinstance(assignee, str):
         raise YamlConfigError._invalid_property(
@@ -416,7 +422,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-    tags = rule.get("tags")
 
     if tags is not None and not isinstance(tags, list):
         raise YamlConfigError._invalid_property(
@@ -426,7 +431,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-    sub_expressions = rule.get("sub_expressions")
 
     if sub_expressions is not None:
         if not isinstance(channel_references, list):
diff --git a/python/lib/sift_py/ingestion/config/yaml/spec.py b/python/lib/sift_py/ingestion/config/yaml/spec.py
index 8fb91a68..2b08dd9d 100644
--- a/python/lib/sift_py/ingestion/config/yaml/spec.py
+++ b/python/lib/sift_py/ingestion/config/yaml/spec.py
@@ -90,14 +90,16 @@ class FlowYamlSpec(TypedDict):
     channels: List[ChannelConfigYamlSpec]
 
 
-class RuleModuleYamlSpec(TypedDict):
+class RuleNamespaceYamlSpec(TypedDict):
     """
-    TODO: A nice docstring
+    The formal definition of what a rule namespace looks like in YAML.
+
+    `namespace`: Name of the namespace.
+    `rules`: A list of rules that belong to the namespace.
     """
 
-    name: str
     namespace: str
-    channel_references: NotRequired[List[Dict[str, ChannelConfigYamlSpec]]]
+    rules: List[RuleYamlSpec]
 
 
 class RuleYamlSpec(TypedDict):
@@ -105,6 +107,7 @@ class RuleYamlSpec(TypedDict):
     The formal definition of what a single rule looks like in YAML.
 
     `name`: Name of the rule.
+    `namespace`: Optional namespace of the rule.
     `description`: Description of rule.
     `expression`:
         Either an expression-string or a `sift_py.ingestion.config.yaml.spec.NamedExpressionYamlSpec` referencing a named expression.
@@ -156,6 +159,7 @@ class RuleYamlSpec(TypedDict):
     """
 
     name: str
+    namespace: NotRequired[str]
     description: NotRequired[str]
     expression: Union[str, NamedExpressionYamlSpec]
     type: Union[Literal["phase"], Literal["review"]]

From 840382b124f326c873bff5b83dcbf8613d9f0e23 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Tue, 1 Oct 2024 16:59:20 -0700
Subject: [PATCH 14/33] chore: More docs

---
 .../lib/sift_py/ingestion/config/yaml/spec.py | 22 ++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/spec.py b/python/lib/sift_py/ingestion/config/yaml/spec.py
index 2b08dd9d..33791873 100644
--- a/python/lib/sift_py/ingestion/config/yaml/spec.py
+++ b/python/lib/sift_py/ingestion/config/yaml/spec.py
@@ -107,7 +107,7 @@ class RuleYamlSpec(TypedDict):
     The formal definition of what a single rule looks like in YAML.
 
     `name`: Name of the rule.
-    `namespace`: Optional namespace of the rule.
+    `namespace`: Optional namespace of the rule. Only used if referencing a rule defined in a namespace.
     `description`: Description of rule.
     `expression`:
         Either an expression-string or a `sift_py.ingestion.config.yaml.spec.NamedExpressionYamlSpec` referencing a named expression.
@@ -117,6 +117,26 @@ class RuleYamlSpec(TypedDict):
     `channel_references`: A list of channel references that maps to an actual channel. More below.
     `sub_expressions`: A list of sub-expressions which is a mapping of place-holders to sub-expressions. Only used if using named expressions.
 
+    Namespaces:
+    Rule may be defined in a separate YAML within a namespace. The reference to the namespace rule would look like the following:
+    ```yaml
+    rules:
+      - namespace: voltage
+        name: overvoltage
+        channel_references:
+          - $1: *vehicle_state_channel
+          - $2: *voltage_channel
+    ```
+    With the corresponding rule being defined in a separate YAML file like the following:
+    ```yaml
+    namespace: voltage
+    rules:
+      - name: overvoltage
+        description: Checks for overvoltage while accelerating
+        expression: $1 == "Accelerating" && $2 > 80
+        type: review
+    ```
+
     Channel references:
     A channel reference is a string containing a numerical value prefixed with "$". Examples include "$1", "$2", "$11", and so on.
     The channel reference is mapped to an actual channel config. In YAML it would look something like this:

From 9061bcbcbc8b596022fd7e2aa83d1dccebe809d1 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Tue, 1 Oct 2024 18:09:03 -0700
Subject: [PATCH 15/33] chore: Handle nested directories

---
 python/lib/sift_py/ingestion/config/yaml/load.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 01407be2..7d5e1bdd 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -73,10 +73,16 @@ def update_rule_namespaces(rule_module_path: Path):
 
         rule_namespaces.update(rule_module)
 
+    def handle_dir(path: Path):
+        for file_in_dir in path.iterdir():
+            if file_in_dir.is_dir():
+                handle_dir(file_in_dir)
+            elif file_in_dir.is_file():
+                update_rule_namespaces(file_in_dir)
+
     for path in paths:
         if path.is_dir():
-            for rule_file in path.iterdir():
-                update_rule_namespaces(rule_file)
+            handle_dir(path)
         elif path.is_file():
             update_rule_namespaces(path)
 

From e8a094701c203bf9f0b46f2d24c736bb2c70b70a Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 3 Oct 2024 11:00:55 -0700
Subject: [PATCH 16/33] fix: Fix channel references for namespaced rules and
 syntax issue

---
 .../rule_modules/velocity.yml                 |  2 +-
 .../telemetry_config.py                       |  7 ++--
 .../lib/sift_py/ingestion/config/telemetry.py | 34 ++++++++++---------
 3 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
index 8ecd08a7..43c98e92 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
@@ -3,7 +3,7 @@ namespace: velocity
 rules:
   - name: vehicle_stuck
     description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
-    expression: $1 == "Accelerating" && persistence($2 = 0, 5)
+    expression: $1 == "Accelerating" && persistence($2 == 0, 5)
     type: review
 
   - name: vehicle_not_stopped
diff --git a/python/examples/ingestion_with_yaml_config/telemetry_config.py b/python/examples/ingestion_with_yaml_config/telemetry_config.py
index 653e70db..d6fcf4a4 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_config.py
+++ b/python/examples/ingestion_with_yaml_config/telemetry_config.py
@@ -3,9 +3,10 @@
 
 from sift_py.ingestion.service import TelemetryConfig
 
-TELEMETRY_CONFIGS_DIR = Path().joinpath("telemetry_configs")
-EXPRESSION_MODULES_DIR = Path().joinpath("expression_modules")
-RULE_MODULES_DIR = Path().joinpath("rule_modules")
+TEMP = Path().joinpath("python/examples/ingestion_with_yaml_config")
+TELEMETRY_CONFIGS_DIR = Path().joinpath(TEMP).joinpath("telemetry_configs")
+EXPRESSION_MODULES_DIR = Path().joinpath(TEMP).joinpath("expression_modules")
+RULE_MODULES_DIR = Path().joinpath(TEMP).joinpath("rule_modules")
 
 
 def nostromos_lv_426() -> TelemetryConfig:
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index a1a062a0..d55cba1d 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -188,6 +188,24 @@ def _from_yaml(
             )
 
         for rule in config_as_yaml.get("rules", []):
+            # Order matters -- capture the channel references before checking the namespace
+            channel_references: List[
+                ExpressionChannelReference | ExpressionChannelReferenceChannelConfig
+            ] = []
+
+            for channel_reference in rule.get("channel_references", []):
+                for ref, val in channel_reference.items():
+                    name = val["name"]
+                    component = val.get("component")
+
+                    channel_references.append(
+                        {
+                            "channel_reference": ref,
+                            "channel_identifier": _channel_fqn(name, component),
+                        }
+                    )
+
+            print(channel_references)
             namespace = rule.get("namespace")
 
             if namespace:
@@ -214,22 +232,6 @@ def _from_yaml(
                     tags=tags,
                 )
 
-            channel_references: List[
-                ExpressionChannelReference | ExpressionChannelReferenceChannelConfig
-            ] = []
-
-            for channel_reference in rule.get("channel_references", []):
-                for ref, val in channel_reference.items():
-                    name = val["name"]
-                    component = val.get("component")
-
-                    channel_references.append(
-                        {
-                            "channel_reference": ref,
-                            "channel_identifier": _channel_fqn(name, component),
-                        }
-                    )
-
             expression = rule["expression"]
             if isinstance(expression, str):
                 rules.append(

From b647159b3313dd6de99f4d0296297eee1db583fe Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 3 Oct 2024 15:47:39 -0700
Subject: [PATCH 17/33] chore: formatting fixes

---
 .../telemetry_configs/nostromo_lv_426.yml                     | 2 +-
 python/lib/sift_py/ingestion/config/telemetry.py              | 4 +++-
 python/lib/sift_py/ingestion/config/yaml/load.py              | 4 ----
 3 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
index b3c64a8b..f4999406 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
+++ b/python/examples/ingestion_with_yaml_config/telemetry_configs/nostromo_lv_426.yml
@@ -127,7 +127,7 @@ flows:
   - name: gpio_channel
     channels:
       - <<: *gpio_channel
-      
+
   - name: logs
     channels:
       - <<: *log_channel
diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index d55cba1d..ead95101 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -218,7 +218,9 @@ def _from_yaml(
                     if rule["name"] == rule_from_namespace["name"]:
                         found_rule = rule_from_namespace
                 if not found_rule:
-                    raise TelemetryConfigValidationError(f"Could not find rule name {rule['name']} in {namespace}")
+                    raise TelemetryConfigValidationError(
+                        f"Could not find rule name {rule['name']} in {namespace}"
+                    )
                 rule = found_rule
 
             annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
diff --git a/python/lib/sift_py/ingestion/config/yaml/load.py b/python/lib/sift_py/ingestion/config/yaml/load.py
index 7d5e1bdd..fce7bca5 100644
--- a/python/lib/sift_py/ingestion/config/yaml/load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/load.py
@@ -389,7 +389,6 @@ def _validate_rule(val: Any):
     if description is not None and not isinstance(description, str):
         raise YamlConfigError._invalid_property(description, "- description", "str", ["rules"])
 
-
     if isinstance(expression, dict):
         expression_name = cast(Dict[Any, Any], expression).get("name")
 
@@ -419,7 +418,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-
     if assignee is not None and not isinstance(assignee, str):
         raise YamlConfigError._invalid_property(
             assignee,
@@ -428,7 +426,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-
     if tags is not None and not isinstance(tags, list):
         raise YamlConfigError._invalid_property(
             tags,
@@ -437,7 +434,6 @@ def _validate_rule(val: Any):
             ["rules"],
         )
 
-
     if sub_expressions is not None:
         if not isinstance(channel_references, list):
             raise YamlConfigError._invalid_property(

From 79e33291f2ccecd54edf57a567e39bb93b03ba88 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 9 Oct 2024 17:51:34 -0700
Subject: [PATCH 18/33] test: Add rule namespace to nominal telemetry_test

---
 .../lib/sift_py/ingestion/config/telemetry.py |  1 -
 .../ingestion/config/telemetry_test.py        | 54 +++++++++++++++++--
 2 files changed, 51 insertions(+), 4 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index ead95101..4e08139a 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -205,7 +205,6 @@ def _from_yaml(
                         }
                     )
 
-            print(channel_references)
             namespace = rule.get("namespace")
 
             if namespace:
diff --git a/python/lib/sift_py/ingestion/config/telemetry_test.py b/python/lib/sift_py/ingestion/config/telemetry_test.py
index 54e58042..fa73df43 100644
--- a/python/lib/sift_py/ingestion/config/telemetry_test.py
+++ b/python/lib/sift_py/ingestion/config/telemetry_test.py
@@ -39,10 +39,19 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
         "kinetic_energy_gt": "0.5 * $mass * $1 * $1 > $threshold",
     }
 
+    mock_load_rule_namespaces = mocker.patch(_mock_path(sift_py.ingestion.config.yaml.load.load_rule_namespaces))
+    mock_load_rule_namespaces.return_value = {
+        "velocity": [
+            {"name": "vehicle_stuck", "description": "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state", "expression": "$1 == \"Accelerating\" && persistence($2 == 0, 5)", "type": "review"},
+            {"name": "vehicle_not_stopped", "description": "Makes sure vehicle velocity remains 0 while stopped", "expression": "$1 == \"Stopped\" && $2 > 0", "type": "review"}
+        ]
+    }
+
     dummy_yaml_path = Path()
     dummy_named_expr_mod_path = Path()
+    dummy_rule_namespace_path = [Path()]
 
-    telemetry_config = TelemetryConfig.try_from_yaml(dummy_yaml_path, [dummy_named_expr_mod_path])
+    telemetry_config = TelemetryConfig.try_from_yaml(dummy_yaml_path, [dummy_named_expr_mod_path], dummy_rule_namespace_path)
 
     assert telemetry_config.asset_name == "LunarVehicle426"
     assert telemetry_config.ingestion_client_key == "lunar_vehicle_426"
@@ -105,9 +114,9 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
     assert gpio_channel.bit_field_elements[3].index == 7
     assert gpio_channel.bit_field_elements[3].bit_count == 1
 
-    assert len(telemetry_config.rules) == 4
+    assert len(telemetry_config.rules) == 6
 
-    overheating_rule, speeding_rule, failures_rule, kinetic_energy_rule = telemetry_config.rules
+    overheating_rule, speeding_rule, failures_rule, kinetic_energy_rule, vehicle_stuck, vehicle_not_stopped = telemetry_config.rules
 
     assert overheating_rule.name == "overheating"
     assert overheating_rule.description == "Checks for vehicle overheating"
@@ -133,6 +142,18 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
     assert overheating_rule.action.kind() == RuleActionKind.ANNOTATION
     assert isinstance(kinetic_energy_rule.action, RuleActionCreateDataReviewAnnotation)
 
+    assert vehicle_stuck.name == "vehicle_stuck"
+    assert vehicle_stuck.description == "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state"
+    assert vehicle_stuck.expression == "$1 == \"Accelerating\" && persistence($2 == 0, 5)"
+    assert vehicle_stuck.action.kind() == RuleActionKind.ANNOTATION
+    assert isinstance(vehicle_stuck.action, RuleActionCreateDataReviewAnnotation)
+
+    assert vehicle_not_stopped.name == "vehicle_not_stopped"
+    assert vehicle_not_stopped.description == "Makes sure vehicle velocity remains 0 while stopped"
+    assert vehicle_not_stopped.expression == "$1 == \"Stopped\" && $2 > 0"
+    assert vehicle_not_stopped.action.kind() == RuleActionKind.ANNOTATION
+    assert isinstance(vehicle_not_stopped.action, RuleActionCreateDataReviewAnnotation)
+
 
 def test_telemetry_config_err_if_duplicate_channels_in_flow(mocker: MockerFixture):
     """
@@ -361,6 +382,18 @@ def test_telemetry_config_validations_flows_with_same_name():
     tags:
         - nostromo
 
+  - namespace: velocity
+    name: vehicle_stuck
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *velocity_channel
+
+  - namespace: velocity
+    name: vehicle_not_stopped
+    channel_references:
+      - $1: *vehicle_state_channel
+      - $2: *velocity_channel
+
 flows:
   - name: readings
     channels:
@@ -398,3 +431,18 @@ def test_telemetry_config_validations_flows_with_same_name():
       - <<: *velocity_channel
       - <<: *velocity_channel
 """
+
+RULE_NAMESPACE_YAML_CONFIG = """
+namespace: velocity
+
+rules:
+  - name: vehicle_stuck
+    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
+    expression: $1 == "Accelerating" && persistence($2 == 0, 5)
+    type: review
+
+  - name: vehicle_not_stopped
+    description: Makes sure vehicle velocity remains 0 while stopped
+    expression: $1 == "Stopped" && $2 > 0
+    type: review
+"""

From e36637af40da04fa7e58b36a8c86daa25c3a1e5a Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 9 Oct 2024 18:02:36 -0700
Subject: [PATCH 19/33] chore: placeholders for other tests

---
 python/lib/sift_py/ingestion/config/telemetry_test.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/python/lib/sift_py/ingestion/config/telemetry_test.py b/python/lib/sift_py/ingestion/config/telemetry_test.py
index fa73df43..4a109d62 100644
--- a/python/lib/sift_py/ingestion/config/telemetry_test.py
+++ b/python/lib/sift_py/ingestion/config/telemetry_test.py
@@ -283,6 +283,16 @@ def test_telemetry_config_validations_flows_with_same_name():
         )
 
 
+def test_telemetry_config_validations_rules_with_same_namespace():
+    pass
+
+def test_telemetry_config_validations_rule_missing_namespace():
+    pass
+
+def test_telemetry_config_validations_rule_missing_from_namespace():
+    pass
+
+
 TEST_YAML_CONFIG_STR = """
 asset_name: LunarVehicle426
 ingestion_client_key: lunar_vehicle_426

From 230f2b023d9aa02030584b3c0292b69a1e0f7a73 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Wed, 9 Oct 2024 18:07:00 -0700
Subject: [PATCH 20/33] chore: format

---
 .../ingestion/config/telemetry_test.py        | 42 +++++++++++++++----
 1 file changed, 34 insertions(+), 8 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry_test.py b/python/lib/sift_py/ingestion/config/telemetry_test.py
index 4a109d62..cd285bc3 100644
--- a/python/lib/sift_py/ingestion/config/telemetry_test.py
+++ b/python/lib/sift_py/ingestion/config/telemetry_test.py
@@ -39,11 +39,23 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
         "kinetic_energy_gt": "0.5 * $mass * $1 * $1 > $threshold",
     }
 
-    mock_load_rule_namespaces = mocker.patch(_mock_path(sift_py.ingestion.config.yaml.load.load_rule_namespaces))
+    mock_load_rule_namespaces = mocker.patch(
+        _mock_path(sift_py.ingestion.config.yaml.load.load_rule_namespaces)
+    )
     mock_load_rule_namespaces.return_value = {
         "velocity": [
-            {"name": "vehicle_stuck", "description": "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state", "expression": "$1 == \"Accelerating\" && persistence($2 == 0, 5)", "type": "review"},
-            {"name": "vehicle_not_stopped", "description": "Makes sure vehicle velocity remains 0 while stopped", "expression": "$1 == \"Stopped\" && $2 > 0", "type": "review"}
+            {
+                "name": "vehicle_stuck",
+                "description": "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state",
+                "expression": '$1 == "Accelerating" && persistence($2 == 0, 5)',
+                "type": "review",
+            },
+            {
+                "name": "vehicle_not_stopped",
+                "description": "Makes sure vehicle velocity remains 0 while stopped",
+                "expression": '$1 == "Stopped" && $2 > 0',
+                "type": "review",
+            },
         ]
     }
 
@@ -51,7 +63,9 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
     dummy_named_expr_mod_path = Path()
     dummy_rule_namespace_path = [Path()]
 
-    telemetry_config = TelemetryConfig.try_from_yaml(dummy_yaml_path, [dummy_named_expr_mod_path], dummy_rule_namespace_path)
+    telemetry_config = TelemetryConfig.try_from_yaml(
+        dummy_yaml_path, [dummy_named_expr_mod_path], dummy_rule_namespace_path
+    )
 
     assert telemetry_config.asset_name == "LunarVehicle426"
     assert telemetry_config.ingestion_client_key == "lunar_vehicle_426"
@@ -116,7 +130,14 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
 
     assert len(telemetry_config.rules) == 6
 
-    overheating_rule, speeding_rule, failures_rule, kinetic_energy_rule, vehicle_stuck, vehicle_not_stopped = telemetry_config.rules
+    (
+        overheating_rule,
+        speeding_rule,
+        failures_rule,
+        kinetic_energy_rule,
+        vehicle_stuck,
+        vehicle_not_stopped,
+    ) = telemetry_config.rules
 
     assert overheating_rule.name == "overheating"
     assert overheating_rule.description == "Checks for vehicle overheating"
@@ -143,14 +164,17 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
     assert isinstance(kinetic_energy_rule.action, RuleActionCreateDataReviewAnnotation)
 
     assert vehicle_stuck.name == "vehicle_stuck"
-    assert vehicle_stuck.description == "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state"
-    assert vehicle_stuck.expression == "$1 == \"Accelerating\" && persistence($2 == 0, 5)"
+    assert (
+        vehicle_stuck.description
+        == "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state"
+    )
+    assert vehicle_stuck.expression == '$1 == "Accelerating" && persistence($2 == 0, 5)'
     assert vehicle_stuck.action.kind() == RuleActionKind.ANNOTATION
     assert isinstance(vehicle_stuck.action, RuleActionCreateDataReviewAnnotation)
 
     assert vehicle_not_stopped.name == "vehicle_not_stopped"
     assert vehicle_not_stopped.description == "Makes sure vehicle velocity remains 0 while stopped"
-    assert vehicle_not_stopped.expression == "$1 == \"Stopped\" && $2 > 0"
+    assert vehicle_not_stopped.expression == '$1 == "Stopped" && $2 > 0'
     assert vehicle_not_stopped.action.kind() == RuleActionKind.ANNOTATION
     assert isinstance(vehicle_not_stopped.action, RuleActionCreateDataReviewAnnotation)
 
@@ -286,9 +310,11 @@ def test_telemetry_config_validations_flows_with_same_name():
 def test_telemetry_config_validations_rules_with_same_namespace():
     pass
 
+
 def test_telemetry_config_validations_rule_missing_namespace():
     pass
 
+
 def test_telemetry_config_validations_rule_missing_from_namespace():
     pass
 

From ef3721bbf598755730d2e0df1df45d94dee7447d Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 11:31:09 -0700
Subject: [PATCH 21/33] feat: Add RuleConfig interpolation of rules

---
 .../rule_modules/velocity.yml                 | 12 +++
 .../rule_modules/voltage.yml                  | 12 +++
 .../telemetry_config.py                       | 73 ++++++++++++++++++-
 python/lib/sift_py/ingestion/rule/config.py   | 61 ++++++++++++++--
 4 files changed, 149 insertions(+), 9 deletions(-)
 create mode 100644 python/examples/ingestion_with_python_config/rule_modules/velocity.yml
 create mode 100644 python/examples/ingestion_with_python_config/rule_modules/voltage.yml

diff --git a/python/examples/ingestion_with_python_config/rule_modules/velocity.yml b/python/examples/ingestion_with_python_config/rule_modules/velocity.yml
new file mode 100644
index 00000000..43c98e92
--- /dev/null
+++ b/python/examples/ingestion_with_python_config/rule_modules/velocity.yml
@@ -0,0 +1,12 @@
+namespace: velocity
+
+rules:
+  - name: vehicle_stuck
+    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
+    expression: $1 == "Accelerating" && persistence($2 == 0, 5)
+    type: review
+
+  - name: vehicle_not_stopped
+    description: Makes sure vehicle velocity remains 0 while stopped
+    expression: $1 == "Stopped" && $2 > 0
+    type: review
diff --git a/python/examples/ingestion_with_python_config/rule_modules/voltage.yml b/python/examples/ingestion_with_python_config/rule_modules/voltage.yml
new file mode 100644
index 00000000..b47e7216
--- /dev/null
+++ b/python/examples/ingestion_with_python_config/rule_modules/voltage.yml
@@ -0,0 +1,12 @@
+namespace: voltage
+
+rules:
+  - name: overvoltage
+    description: Checks for overvoltage while accelerating
+    expression: $1 == "Accelerating" && $2 > 80
+    type: review
+
+  - name: undervoltage
+    description: Checks for undervoltage while accelerating
+    expression: $1 == "Accelerating" && $2 < 40
+    type: review
diff --git a/python/examples/ingestion_with_python_config/telemetry_config.py b/python/examples/ingestion_with_python_config/telemetry_config.py
index 3003a1a7..9f8fa059 100644
--- a/python/examples/ingestion_with_python_config/telemetry_config.py
+++ b/python/examples/ingestion_with_python_config/telemetry_config.py
@@ -7,13 +7,14 @@
     ChannelEnumType,
 )
 from sift_py.ingestion.config.telemetry import FlowConfig, TelemetryConfig
-from sift_py.ingestion.config.yaml.load import load_named_expression_modules
+from sift_py.ingestion.config.yaml.load import load_named_expression_modules, load_rule_namespaces
 from sift_py.ingestion.rule.config import (
     RuleActionCreateDataReviewAnnotation,
     RuleConfig,
 )
 
 EXPRESSION_MODULES_DIR = Path().joinpath("expression_modules")
+RULE_NAMESPACES_DIR = Path().joinpath("rule_modules")
 
 
 def nostromos_lv_426() -> TelemetryConfig:
@@ -24,6 +25,12 @@ def nostromos_lv_426() -> TelemetryConfig:
         ]
     )
 
+    rule_namespaces = load_rule_namespaces(
+        [
+            RULE_NAMESPACES_DIR,
+        ]
+    )
+
     log_channel = ChannelConfig(
         name="log",
         data_type=ChannelDataType.STRING,
@@ -124,6 +131,70 @@ def nostromos_lv_426() -> TelemetryConfig:
                     tags=["nostromo", "failure"],
                 ),
             ),
+            RuleConfig(
+                name="overvoltage",
+                namespace="voltage",
+                namespace_rules=rule_namespaces,
+                channel_references=[
+                    # INFO: Can use either "channel_identifier" or "channel_config"
+                    {
+                        "channel_reference": "$1",
+                        "channel_identifier": vehicle_state_channel.fqn(),
+                    },
+                    {
+                        "channel_reference": "$2",
+                        "channel_config": voltage_channel,
+                    },
+                ],
+            ),
+            RuleConfig(
+                name="undervoltage",
+                namespace="voltage",
+                namespace_rules=rule_namespaces,
+                channel_references=[
+                    # INFO: Can use either "channel_identifier" or "channel_config"
+                    {
+                        "channel_reference": "$1",
+                        "channel_identifier": vehicle_state_channel.fqn(),
+                    },
+                    {
+                        "channel_reference": "$2",
+                        "channel_config": voltage_channel,
+                    },
+                ],
+            ),
+            RuleConfig(
+                name="vehicle_stuck",
+                namespace="velocity",
+                namespace_rules=rule_namespaces,
+                channel_references=[
+                    # INFO: Can use either "channel_identifier" or "channel_config"
+                    {
+                        "channel_reference": "$1",
+                        "channel_identifier": vehicle_state_channel.fqn(),
+                    },
+                    {
+                        "channel_reference": "$2",
+                        "channel_config": velocity_channel,
+                    },
+                ],
+            ),
+            RuleConfig(
+                name="vehicle_not_stopped",
+                namespace="velocity",
+                namespace_rules=rule_namespaces,
+                channel_references=[
+                    # INFO: Can use either "channel_identifier" or "channel_config"
+                    {
+                        "channel_reference": "$1",
+                        "channel_identifier": vehicle_state_channel.fqn(),
+                    },
+                    {
+                        "channel_reference": "$2",
+                        "channel_config": velocity_channel,
+                    },
+                ],
+            ),
         ],
         flows=[
             FlowConfig(
diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 984d0f67..6677f5a0 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -2,7 +2,7 @@
 
 from abc import ABC, abstractmethod
 from enum import Enum
-from typing import Any, Dict, List, Optional, TypedDict, Union, cast
+from typing import Any, Dict, List, Optional, Tuple, TypedDict, Union, cast
 
 from sift.annotations.v1.annotations_pb2 import AnnotationType
 from sift.rules.v1.rules_pb2 import ActionKind
@@ -32,13 +32,15 @@ class RuleConfig(AsJson):
     def __init__(
         self,
         name: str,
-        description: str,
-        expression: str,
-        action: RuleAction,
         channel_references: List[
             Union[ExpressionChannelReference, ExpressionChannelReferenceChannelConfig]
         ],
-        sub_expressions: Dict[str, Any] = {},
+        description: Optional[str] = "",
+        expression: Optional[str] = "",
+        action: Optional[RuleAction] = None,
+        sub_expressions: Optional[Dict[str, Any]] = {},
+        namespace: Optional[str] = "",
+        namespace_rules: Optional[Dict[str, List[Dict]]] = {},
     ):
         self.channel_references = []
 
@@ -65,9 +67,24 @@ def __init__(
                 )
 
         self.name = name
-        self.description = description
-        self.action = action
-        self.expression = self.__class__.interpolate_sub_expressions(expression, sub_expressions)
+
+        if namespace and namespace_rules:
+            description, expression, action = self.__class__.interpolate_namespace_rule(
+                namespace, namespace_rules
+            )
+
+        if action:
+            self.action = action
+
+        if description:
+            self.description = description
+
+        if expression:
+            self.expression = expression
+            if sub_expressions:
+                self.expression = self.__class__.interpolate_sub_expressions(
+                    expression, sub_expressions
+                )
 
     def as_json(self) -> Any:
         """
@@ -114,6 +131,34 @@ def interpolate_sub_expressions(expression: str, sub_expressions: Dict[str, str]
 
         return expression
 
+    @staticmethod
+    def interpolate_namespace_rule(
+        namespace: str, namespace_rules: Dict[str, List[Dict]]
+    ) -> Tuple[str, str, RuleAction]:
+        rule_list = namespace_rules.get(namespace)
+        if not rule_list:
+            raise ValueError(
+                f"Couldn't find namespace '{namespace}' in namespace_rules: {namespace_rules}"
+            )
+
+        for rule in rule_list:
+            name = rule.get("name")
+            if name:
+                description = rule.get("description", "")
+                expression = rule.get("expression", "")
+                type = rule.get("type", "")
+                tags = rule.get("tags")
+                action: RuleAction = RuleActionCreatePhaseAnnotation(tags)
+                if RuleActionAnnotationKind.from_str(type) == RuleActionAnnotationKind.REVIEW:
+                    action = RuleActionCreateDataReviewAnnotation(
+                        assignee=rule.get("assignee"), tags=tags
+                    )
+
+        if not name:
+            raise ValueError(f"Couldn't find rule name '{name}' in rule_list: {rule_list}")
+
+        return description, expression, action
+
 
 class RuleAction(ABC):
     @abstractmethod

From 1f3a1bd2bce91c5b9d26f220752e5eba51cfcf02 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 16:29:54 -0700
Subject: [PATCH 22/33] chore: Clean up optional handling

---
 python/lib/sift_py/ingestion/rule/config.py | 51 ++++++++++-----------
 1 file changed, 25 insertions(+), 26 deletions(-)

diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 6677f5a0..354f2cb5 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -24,9 +24,9 @@ class RuleConfig(AsJson):
     """
 
     name: str
-    description: str
-    expression: str
-    action: RuleAction
+    description: Optional[str]
+    expression: Optional[str]
+    action: Optional[RuleAction]
     channel_references: List[ExpressionChannelReference]
 
     def __init__(
@@ -68,23 +68,17 @@ def __init__(
 
         self.name = name
 
-        if namespace and namespace_rules:
+        if namespace:
             description, expression, action = self.__class__.interpolate_namespace_rule(
                 namespace, namespace_rules
             )
 
-        if action:
-            self.action = action
-
-        if description:
-            self.description = description
-
-        if expression:
-            self.expression = expression
-            if sub_expressions:
-                self.expression = self.__class__.interpolate_sub_expressions(
-                    expression, sub_expressions
-                )
+        self.action = action
+        self.description = description
+        self.expression = expression
+        self.expression = self.__class__.interpolate_sub_expressions(
+            expression, sub_expressions
+        )
 
     def as_json(self) -> Any:
         """
@@ -115,26 +109,31 @@ def as_json(self) -> Any:
             if self.action.tags is not None and len(self.action.tags) > 0:
                 hash_map["tags"] = self.action.tags
         else:
-            raise TypeError(f"Unsupported rule action '{self.action.kind()}'.")
+            kind = self.action.kind() if self.action else self.action
+            raise TypeError(f"Unsupported rule action '{kind}'.")
 
         return hash_map
 
     @staticmethod
-    def interpolate_sub_expressions(expression: str, sub_expressions: Dict[str, str]) -> str:
-        for ref, expr in sub_expressions.items():
-            if ref not in expression:
-                raise ValueError(f"Couldn't find '{ref}' in expression '{expression}'.")
-            if isinstance(expr, str):
-                expression = expression.replace(ref, f'"{expr}"')
-            else:
-                expression = expression.replace(ref, str(expr))
+    def interpolate_sub_expressions(expression: Optional[str], sub_expressions: Optional[Dict[str, str]]) -> Optional[str]:
+        if expression and sub_expressions:
+            for ref, expr in sub_expressions.items():
+                if ref not in expression:
+                    raise ValueError(f"Couldn't find '{ref}' in expression '{expression}'.")
+                if isinstance(expr, str):
+                    expression = expression.replace(ref, f'"{expr}"')
+                else:
+                    expression = expression.replace(ref, str(expr))
 
         return expression
 
     @staticmethod
     def interpolate_namespace_rule(
-        namespace: str, namespace_rules: Dict[str, List[Dict]]
+        namespace: str, namespace_rules: Optional[Dict[str, List[Dict]]]
     ) -> Tuple[str, str, RuleAction]:
+        if not namespace_rules:
+            raise ValueError(f"Namespace rules must be provided with namespace key. Got: {namespace_rules}")
+
         rule_list = namespace_rules.get(namespace)
         if not rule_list:
             raise ValueError(

From cd9fb8a5c548dad6a3ac7098756b41a001162f60 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 16:32:08 -0700
Subject: [PATCH 23/33] chore: fmt

---
 python/lib/sift_py/ingestion/rule/config.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 354f2cb5..9a83452f 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -76,9 +76,7 @@ def __init__(
         self.action = action
         self.description = description
         self.expression = expression
-        self.expression = self.__class__.interpolate_sub_expressions(
-            expression, sub_expressions
-        )
+        self.expression = self.__class__.interpolate_sub_expressions(expression, sub_expressions)
 
     def as_json(self) -> Any:
         """
@@ -115,7 +113,9 @@ def as_json(self) -> Any:
         return hash_map
 
     @staticmethod
-    def interpolate_sub_expressions(expression: Optional[str], sub_expressions: Optional[Dict[str, str]]) -> Optional[str]:
+    def interpolate_sub_expressions(
+        expression: Optional[str], sub_expressions: Optional[Dict[str, str]]
+    ) -> Optional[str]:
         if expression and sub_expressions:
             for ref, expr in sub_expressions.items():
                 if ref not in expression:
@@ -132,7 +132,9 @@ def interpolate_namespace_rule(
         namespace: str, namespace_rules: Optional[Dict[str, List[Dict]]]
     ) -> Tuple[str, str, RuleAction]:
         if not namespace_rules:
-            raise ValueError(f"Namespace rules must be provided with namespace key. Got: {namespace_rules}")
+            raise ValueError(
+                f"Namespace rules must be provided with namespace key. Got: {namespace_rules}"
+            )
 
         rule_list = namespace_rules.get(namespace)
         if not rule_list:

From 430e7f065e2b142b95986a016751d68e2e6deac9 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 17:02:39 -0700
Subject: [PATCH 24/33] chore: Use RuleConfig logic for assembling namespace
 rules from yaml

---
 .../lib/sift_py/ingestion/config/telemetry.py | 48 +++++++------------
 1 file changed, 18 insertions(+), 30 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index 4e08139a..badd7002 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -188,7 +188,21 @@ def _from_yaml(
             )
 
         for rule in config_as_yaml.get("rules", []):
-            # Order matters -- capture the channel references before checking the namespace
+            namespace = rule.get("namespace")
+
+            if not namespace:
+                annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
+                tags = rule.get("tags")
+
+                action: Optional[RuleAction] = RuleActionCreatePhaseAnnotation(tags)
+                if annotation_type == RuleActionAnnotationKind.REVIEW:
+                    action = RuleActionCreateDataReviewAnnotation(
+                        assignee=rule.get("assignee"),
+                        tags=tags,
+                    )
+            else:
+                action = None
+
             channel_references: List[
                 ExpressionChannelReference | ExpressionChannelReferenceChannelConfig
             ] = []
@@ -205,35 +219,7 @@ def _from_yaml(
                         }
                     )
 
-            namespace = rule.get("namespace")
-
-            if namespace:
-                rule_namespace = rule_namespaces.get(str(namespace))
-                if not rule_namespace:
-                    raise TelemetryConfigValidationError(f"Could not find namespace {namespace}")
-
-                found_rule = None
-                for rule_from_namespace in rule_namespace:
-                    if rule["name"] == rule_from_namespace["name"]:
-                        found_rule = rule_from_namespace
-                if not found_rule:
-                    raise TelemetryConfigValidationError(
-                        f"Could not find rule name {rule['name']} in {namespace}"
-                    )
-                rule = found_rule
-
-            annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
-
-            tags = rule.get("tags")
-
-            action: RuleAction = RuleActionCreatePhaseAnnotation(tags)
-            if annotation_type == RuleActionAnnotationKind.REVIEW:
-                action = RuleActionCreateDataReviewAnnotation(
-                    assignee=rule.get("assignee"),
-                    tags=tags,
-                )
-
-            expression = rule["expression"]
+            expression = rule.get("expression", "")
             if isinstance(expression, str):
                 rules.append(
                     RuleConfig(
@@ -242,6 +228,8 @@ def _from_yaml(
                         expression=expression,
                         action=action,
                         channel_references=channel_references,
+                        namespace=namespace,
+                        namespace_rules=rule_namespaces,
                     )
                 )
             else:

From 4c7363713ad926fb2a85d63f6d22a2e87b401f07 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 17:02:45 -0700
Subject: [PATCH 25/33] chore: cleanups

---
 .../ingestion_with_yaml_config/telemetry_config.py         | 7 +++----
 python/lib/sift_py/ingestion/rule/config.py                | 1 -
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/python/examples/ingestion_with_yaml_config/telemetry_config.py b/python/examples/ingestion_with_yaml_config/telemetry_config.py
index d6fcf4a4..653e70db 100644
--- a/python/examples/ingestion_with_yaml_config/telemetry_config.py
+++ b/python/examples/ingestion_with_yaml_config/telemetry_config.py
@@ -3,10 +3,9 @@
 
 from sift_py.ingestion.service import TelemetryConfig
 
-TEMP = Path().joinpath("python/examples/ingestion_with_yaml_config")
-TELEMETRY_CONFIGS_DIR = Path().joinpath(TEMP).joinpath("telemetry_configs")
-EXPRESSION_MODULES_DIR = Path().joinpath(TEMP).joinpath("expression_modules")
-RULE_MODULES_DIR = Path().joinpath(TEMP).joinpath("rule_modules")
+TELEMETRY_CONFIGS_DIR = Path().joinpath("telemetry_configs")
+EXPRESSION_MODULES_DIR = Path().joinpath("expression_modules")
+RULE_MODULES_DIR = Path().joinpath("rule_modules")
 
 
 def nostromos_lv_426() -> TelemetryConfig:
diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 9a83452f..62180d20 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -75,7 +75,6 @@ def __init__(
 
         self.action = action
         self.description = description
-        self.expression = expression
         self.expression = self.__class__.interpolate_sub_expressions(expression, sub_expressions)
 
     def as_json(self) -> Any:

From ff124b5738ce83fca6f8cfbe9ccb5cf4d1b17382 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 17:04:16 -0700
Subject: [PATCH 26/33] chore: cleanup

---
 python/lib/sift_py/ingestion/config/telemetry.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index badd7002..12a41fed 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -190,18 +190,17 @@ def _from_yaml(
         for rule in config_as_yaml.get("rules", []):
             namespace = rule.get("namespace")
 
+            action: Optional[RuleAction] = None
             if not namespace:
                 annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
                 tags = rule.get("tags")
 
-                action: Optional[RuleAction] = RuleActionCreatePhaseAnnotation(tags)
+                action = RuleActionCreatePhaseAnnotation(tags)
                 if annotation_type == RuleActionAnnotationKind.REVIEW:
                     action = RuleActionCreateDataReviewAnnotation(
                         assignee=rule.get("assignee"),
                         tags=tags,
                     )
-            else:
-                action = None
 
             channel_references: List[
                 ExpressionChannelReference | ExpressionChannelReferenceChannelConfig

From 05196deb9c1fe35ecad26b03ba196bcc93d2d240 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Thu, 10 Oct 2024 17:57:15 -0700
Subject: [PATCH 27/33] fix: Bug in rule namespace interpolation and test
 cleanup

---
 .../lib/sift_py/ingestion/config/telemetry.py |  8 +++--
 .../ingestion/config/telemetry_test.py        | 33 ++-----------------
 python/lib/sift_py/ingestion/rule/config.py   | 10 +++---
 3 files changed, 14 insertions(+), 37 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index 12a41fed..e8438556 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -191,9 +191,11 @@ def _from_yaml(
             namespace = rule.get("namespace")
 
             action: Optional[RuleAction] = None
+            description: Optional[str] = ""
             if not namespace:
                 annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
                 tags = rule.get("tags")
+                description = rule.get("description", "")
 
                 action = RuleActionCreatePhaseAnnotation(tags)
                 if annotation_type == RuleActionAnnotationKind.REVIEW:
@@ -223,7 +225,7 @@ def _from_yaml(
                 rules.append(
                     RuleConfig(
                         name=rule["name"],
-                        description=rule.get("description", ""),
+                        description=description,
                         expression=expression,
                         action=action,
                         channel_references=channel_references,
@@ -251,11 +253,13 @@ def _from_yaml(
                 rules.append(
                     RuleConfig(
                         name=rule["name"],
-                        description=rule.get("description", ""),
+                        description=description,
                         expression=expr,
                         action=action,
                         channel_references=channel_references,
                         sub_expressions=sub_exprs,
+                        namespace=namespace,
+                        namespace_rules=rule_namespaces,
                     )
                 )
 
diff --git a/python/lib/sift_py/ingestion/config/telemetry_test.py b/python/lib/sift_py/ingestion/config/telemetry_test.py
index cd285bc3..bc54768a 100644
--- a/python/lib/sift_py/ingestion/config/telemetry_test.py
+++ b/python/lib/sift_py/ingestion/config/telemetry_test.py
@@ -142,7 +142,7 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
     assert overheating_rule.name == "overheating"
     assert overheating_rule.description == "Checks for vehicle overheating"
     assert overheating_rule.expression == '$1 == "Accelerating" && $2 > 80'
-    assert overheating_rule.action.kind() == RuleActionKind.ANNOTATION
+    assert overheating_rule.action.kind() == RuleActionKind.ANNOTATION  # type: ignore
     assert isinstance(overheating_rule.action, RuleActionCreateDataReviewAnnotation)
 
     assert speeding_rule.name == "speeding"
@@ -169,13 +169,13 @@ def test_telemetry_config_load_from_yaml(mocker: MockFixture):
         == "Checks that vehicle velocity becomes nonzero 5s after entering accelerating state"
     )
     assert vehicle_stuck.expression == '$1 == "Accelerating" && persistence($2 == 0, 5)'
-    assert vehicle_stuck.action.kind() == RuleActionKind.ANNOTATION
+    assert vehicle_stuck.action.kind() == RuleActionKind.ANNOTATION  # type: ignore
     assert isinstance(vehicle_stuck.action, RuleActionCreateDataReviewAnnotation)
 
     assert vehicle_not_stopped.name == "vehicle_not_stopped"
     assert vehicle_not_stopped.description == "Makes sure vehicle velocity remains 0 while stopped"
     assert vehicle_not_stopped.expression == '$1 == "Stopped" && $2 > 0'
-    assert vehicle_not_stopped.action.kind() == RuleActionKind.ANNOTATION
+    assert vehicle_not_stopped.action.kind() == RuleActionKind.ANNOTATION  # type: ignore
     assert isinstance(vehicle_not_stopped.action, RuleActionCreateDataReviewAnnotation)
 
 
@@ -307,18 +307,6 @@ def test_telemetry_config_validations_flows_with_same_name():
         )
 
 
-def test_telemetry_config_validations_rules_with_same_namespace():
-    pass
-
-
-def test_telemetry_config_validations_rule_missing_namespace():
-    pass
-
-
-def test_telemetry_config_validations_rule_missing_from_namespace():
-    pass
-
-
 TEST_YAML_CONFIG_STR = """
 asset_name: LunarVehicle426
 ingestion_client_key: lunar_vehicle_426
@@ -467,18 +455,3 @@ def test_telemetry_config_validations_rule_missing_from_namespace():
       - <<: *velocity_channel
       - <<: *velocity_channel
 """
-
-RULE_NAMESPACE_YAML_CONFIG = """
-namespace: velocity
-
-rules:
-  - name: vehicle_stuck
-    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
-    expression: $1 == "Accelerating" && persistence($2 == 0, 5)
-    type: review
-
-  - name: vehicle_not_stopped
-    description: Makes sure vehicle velocity remains 0 while stopped
-    expression: $1 == "Stopped" && $2 > 0
-    type: review
-"""
diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 62180d20..f63d0d48 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -70,7 +70,7 @@ def __init__(
 
         if namespace:
             description, expression, action = self.__class__.interpolate_namespace_rule(
-                namespace, namespace_rules
+                name, namespace, namespace_rules
             )
 
         self.action = action
@@ -128,7 +128,7 @@ def interpolate_sub_expressions(
 
     @staticmethod
     def interpolate_namespace_rule(
-        namespace: str, namespace_rules: Optional[Dict[str, List[Dict]]]
+        name: str, namespace: str, namespace_rules: Optional[Dict[str, List[Dict]]]
     ) -> Tuple[str, str, RuleAction]:
         if not namespace_rules:
             raise ValueError(
@@ -142,8 +142,8 @@ def interpolate_namespace_rule(
             )
 
         for rule in rule_list:
-            name = rule.get("name")
-            if name:
+            candidate_name = rule.get("name")
+            if candidate_name == name:
                 description = rule.get("description", "")
                 expression = rule.get("expression", "")
                 type = rule.get("type", "")
@@ -154,7 +154,7 @@ def interpolate_namespace_rule(
                         assignee=rule.get("assignee"), tags=tags
                     )
 
-        if not name:
+        if not expression:
             raise ValueError(f"Couldn't find rule name '{name}' in rule_list: {rule_list}")
 
         return description, expression, action

From be9d09502de670fdbaf145ac4429902cc58978f7 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 11 Oct 2024 11:14:46 -0700
Subject: [PATCH 28/33] test: Add config tests for namespace interpolation

---
 python/lib/sift_py/ingestion/rule/config.py   |   8 +-
 .../lib/sift_py/ingestion/rule/config_test.py | 147 ++++++++++++++++++
 2 files changed, 151 insertions(+), 4 deletions(-)

diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index f63d0d48..41b1a42e 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -153,11 +153,11 @@ def interpolate_namespace_rule(
                     action = RuleActionCreateDataReviewAnnotation(
                         assignee=rule.get("assignee"), tags=tags
                     )
+                return description, expression, action
 
-        if not expression:
-            raise ValueError(f"Couldn't find rule name '{name}' in rule_list: {rule_list}")
-
-        return description, expression, action
+        raise ValueError(
+            f"Could not find rule '{rule}'. Does this rule exist in the namespace? {rule_list}"
+        )
 
 
 class RuleAction(ABC):
diff --git a/python/lib/sift_py/ingestion/rule/config_test.py b/python/lib/sift_py/ingestion/rule/config_test.py
index 8ebc6cca..1ffe97bf 100644
--- a/python/lib/sift_py/ingestion/rule/config_test.py
+++ b/python/lib/sift_py/ingestion/rule/config_test.py
@@ -1,8 +1,11 @@
+import pytest
+
 from sift_py.ingestion.channel import ChannelConfig, ChannelDataType
 
 from .config import (
     RuleActionCreateDataReviewAnnotation,
     RuleActionCreatePhaseAnnotation,
+    RuleActionKind,
     RuleConfig,
 )
 
@@ -107,3 +110,147 @@ def test_rule_named_expressions():
         },
     )
     assert rule_on_kinetic_energy.expression == "0.5 * 10 * $1 * $1 > 35"
+
+
+def test_rule_namespace():
+    namespace_rules = {
+        "valid_namespace": [
+            {
+                "name": "valid_rule",
+                "description": "A rule in a namespace",
+                "expression": "$1 > 10",
+                "type": "review",
+                "assignee": "bob@example.com",
+                "tags": ["foo", "bar"],
+            },
+            {
+                "name": "another_valid_rule",
+                "description": "Another rule in a namespace",
+                "expression": "$1 < 10",
+                "type": "review",
+                "assignee": "mary@example.com",
+                "tags": ["baz", "qux"],
+            },
+        ]
+    }
+
+    valid_namespace_rule = RuleConfig(
+        name="valid_rule",
+        namespace="valid_namespace",
+        namespace_rules=namespace_rules,
+        channel_references=[
+            {
+                "channel_reference": "$1",
+                "channel_config": ChannelConfig(
+                    name="a_channel",
+                    data_type=ChannelDataType.DOUBLE,
+                ),
+            }
+        ],
+    )
+    assert valid_namespace_rule.name == "valid_rule"
+    assert valid_namespace_rule.description == "A rule in a namespace"
+    assert valid_namespace_rule.expression == "$1 > 10"
+    assert valid_namespace_rule.action.assignee == "bob@example.com"
+    assert valid_namespace_rule.action.tags == ["foo", "bar"]
+    assert valid_namespace_rule.action.kind() == RuleActionKind.ANNOTATION
+    assert isinstance(valid_namespace_rule.action, RuleActionCreateDataReviewAnnotation)
+
+
+def test_rule_namespace_missing_namespace_rules():
+    with pytest.raises(ValueError, match="Namespace rules must be provided with namespace key."):
+        RuleConfig(
+            name="a_rule",
+            namespace="a_namespace",
+            channel_references=[
+                {
+                    "channel_reference": "$1",
+                    "channel_config": ChannelConfig(
+                        name="a_channel",
+                        data_type=ChannelDataType.DOUBLE,
+                    ),
+                }
+            ],
+        )
+
+
+def test_rule_namespace_missing_namespace():
+    with pytest.raises(ValueError, match="Couldn't find namespace"):
+        namespace_rules = {
+            "a_namespace": [
+                {
+                    "name": "valid_rule",
+                    "description": "A rule in a namespace",
+                    "expression": "$1 > 10",
+                    "type": "review",
+                    "assignee": "bob@example.com",
+                    "tags": ["foo", "bar"],
+                },
+            ],
+            "another_namespace": [
+                {
+                    "name": "valid_rule",
+                    "description": "A rule in a namespace",
+                    "expression": "$1 > 10",
+                    "type": "review",
+                    "assignee": "bob@example.com",
+                    "tags": ["foo", "bar"],
+                },
+            ],
+        }
+
+        RuleConfig(
+            name="valid_rule",
+            namespace="a_missing_namespace",
+            namespace_rules=namespace_rules,
+            channel_references=[
+                {
+                    "channel_reference": "$1",
+                    "channel_config": ChannelConfig(
+                        name="a_channel",
+                        data_type=ChannelDataType.DOUBLE,
+                    ),
+                }
+            ],
+        )
+
+
+def test_rule_namespace_missing_rule():
+    with pytest.raises(ValueError, match="Does this rule exist in the namespace?"):
+        namespace_rules = {
+            "a_namespace": [
+                {
+                    "name": "a_rule_in_namespace",
+                    "description": "A rule in a namespace",
+                    "expression": "$1 > 10",
+                    "type": "review",
+                    "assignee": "bob@example.com",
+                    "tags": ["foo", "bar"],
+                },
+            ],
+            "another_namespace": [
+                {
+                    "name": "another_rule_in_namespace",
+                    "description": "A rule in a namespace",
+                    "expression": "$1 > 10",
+                    "type": "review",
+                    "assignee": "bob@example.com",
+                    "tags": ["foo", "bar"],
+                },
+            ],
+        }
+
+        RuleConfig(
+            name="a_missing_rule",
+            namespace="a_namespace",
+            namespace_rules=namespace_rules,
+            channel_references=[
+                {
+                    "channel_reference": "$1",
+                    "channel_config": ChannelConfig(
+                        name="a_channel",
+                        data_type=ChannelDataType.DOUBLE,
+                    ),
+                }
+            ],
+        )

From 8fc01b91100edb5dddfe2e1175868b3f17389868 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 11 Oct 2024 14:58:58 -0700
Subject: [PATCH 29/33] test: Load test for misconfigured namespace rule with
 additional fields

---
 .../sift_py/ingestion/config/yaml/test_load.py | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/python/lib/sift_py/ingestion/config/yaml/test_load.py b/python/lib/sift_py/ingestion/config/yaml/test_load.py
index f6cbf9e7..f207a2e4 100644
--- a/python/lib/sift_py/ingestion/config/yaml/test_load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/test_load.py
@@ -327,6 +327,24 @@ def test__validate_rule():
             }
         )
 
+    with pytest.raises(YamlConfigError, match="should not have any other properties set"):
+        load._validate_rule(
+            {
+                "name": "overheat_rule",
+                "namespace": "my_namespace",
+                "description": "some_description",
+                "expression": "$1 > 10 && $2 > 10",
+                "type": "review",
+                "assignee": "homer@example.com",
+                "tags": ["foo", "bar"],
+                "channel_references": [
+                    {"$1": {"name": "voltage", "data_type": "double"}},
+                    {"$2": {"name": "vehicle_state", "data_type": "double"}},
+                ],
+            }
+        )
+
+
 
 def test__validate_flow():
     load._validate_flow(

From 2cc161db7ca33815ff5720a051283f4159aee5ca Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Fri, 11 Oct 2024 15:04:13 -0700
Subject: [PATCH 30/33] chore: format

---
 python/lib/sift_py/ingestion/config/yaml/test_load.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/python/lib/sift_py/ingestion/config/yaml/test_load.py b/python/lib/sift_py/ingestion/config/yaml/test_load.py
index f207a2e4..4ffc75fe 100644
--- a/python/lib/sift_py/ingestion/config/yaml/test_load.py
+++ b/python/lib/sift_py/ingestion/config/yaml/test_load.py
@@ -345,7 +345,6 @@ def test__validate_rule():
         )
 
 
-
 def test__validate_flow():
     load._validate_flow(
         {

From 98631a5cb07307490d0e74b20f674e9b832aa234 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Mon, 14 Oct 2024 15:00:28 -0700
Subject: [PATCH 31/33] chore: Clean up optionals in RuleConfig

---
 python/lib/sift_py/ingestion/rule/config.py | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/python/lib/sift_py/ingestion/rule/config.py b/python/lib/sift_py/ingestion/rule/config.py
index 41b1a42e..4d948ccf 100644
--- a/python/lib/sift_py/ingestion/rule/config.py
+++ b/python/lib/sift_py/ingestion/rule/config.py
@@ -24,8 +24,8 @@ class RuleConfig(AsJson):
     """
 
     name: str
-    description: Optional[str]
-    expression: Optional[str]
+    description: str
+    expression: str
     action: Optional[RuleAction]
     channel_references: List[ExpressionChannelReference]
 
@@ -35,12 +35,12 @@ def __init__(
         channel_references: List[
             Union[ExpressionChannelReference, ExpressionChannelReferenceChannelConfig]
         ],
-        description: Optional[str] = "",
-        expression: Optional[str] = "",
+        description: str = "",
+        expression: str = "",
         action: Optional[RuleAction] = None,
-        sub_expressions: Optional[Dict[str, Any]] = {},
-        namespace: Optional[str] = "",
-        namespace_rules: Optional[Dict[str, List[Dict]]] = {},
+        sub_expressions: Dict[str, Any] = {},
+        namespace: str = "",
+        namespace_rules: Dict[str, List[Dict]] = {},
     ):
         self.channel_references = []
 
@@ -113,9 +113,9 @@ def as_json(self) -> Any:
 
     @staticmethod
     def interpolate_sub_expressions(
-        expression: Optional[str], sub_expressions: Optional[Dict[str, str]]
-    ) -> Optional[str]:
-        if expression and sub_expressions:
+        expression: str, sub_expressions: Optional[Dict[str, str]]
+    ) -> str:
+        if sub_expressions:
             for ref, expr in sub_expressions.items():
                 if ref not in expression:
                     raise ValueError(f"Couldn't find '{ref}' in expression '{expression}'.")

From 275366cd5678e837bd5384d0775162858077e86c Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Mon, 14 Oct 2024 15:04:00 -0700
Subject: [PATCH 32/33] chore: type fixes

---
 python/lib/sift_py/ingestion/config/telemetry.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/lib/sift_py/ingestion/config/telemetry.py b/python/lib/sift_py/ingestion/config/telemetry.py
index e8438556..e17d25da 100644
--- a/python/lib/sift_py/ingestion/config/telemetry.py
+++ b/python/lib/sift_py/ingestion/config/telemetry.py
@@ -188,10 +188,10 @@ def _from_yaml(
             )
 
         for rule in config_as_yaml.get("rules", []):
-            namespace = rule.get("namespace")
+            namespace = rule.get("namespace", "")
 
             action: Optional[RuleAction] = None
-            description: Optional[str] = ""
+            description: str = ""
             if not namespace:
                 annotation_type = RuleActionAnnotationKind.from_str(rule["type"])
                 tags = rule.get("tags")

From 08462a4f6b2e9b8ccb07e82cac77686faa9b2a51 Mon Sep 17 00:00:00 2001
From: Ailin Yu <ailin@siftstack.com>
Date: Mon, 14 Oct 2024 16:31:41 -0700
Subject: [PATCH 33/33] chore: clarify example rule wording

---
 .../ingestion_with_python_config/rule_modules/velocity.yml    | 4 ++--
 .../ingestion_with_yaml_config/rule_modules/velocity.yml      | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/python/examples/ingestion_with_python_config/rule_modules/velocity.yml b/python/examples/ingestion_with_python_config/rule_modules/velocity.yml
index 43c98e92..5505580a 100644
--- a/python/examples/ingestion_with_python_config/rule_modules/velocity.yml
+++ b/python/examples/ingestion_with_python_config/rule_modules/velocity.yml
@@ -2,11 +2,11 @@ namespace: velocity
 
 rules:
   - name: vehicle_stuck
-    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
+    description: Triggers if the vehicle velocity is not 0 for 5s after entering accelerating state
     expression: $1 == "Accelerating" && persistence($2 == 0, 5)
     type: review
 
   - name: vehicle_not_stopped
-    description: Makes sure vehicle velocity remains 0 while stopped
+    description: Triggers if the vehicle velocity does not remain 0 while stopped
     expression: $1 == "Stopped" && $2 > 0
     type: review
diff --git a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
index 43c98e92..5505580a 100644
--- a/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
+++ b/python/examples/ingestion_with_yaml_config/rule_modules/velocity.yml
@@ -2,11 +2,11 @@ namespace: velocity
 
 rules:
   - name: vehicle_stuck
-    description: Checks that vehicle velocity becomes nonzero 5s after entering accelerating state
+    description: Triggers if the vehicle velocity is not 0 for 5s after entering accelerating state
     expression: $1 == "Accelerating" && persistence($2 == 0, 5)
     type: review
 
   - name: vehicle_not_stopped
-    description: Makes sure vehicle velocity remains 0 while stopped
+    description: Triggers if the vehicle velocity does not remain 0 while stopped
     expression: $1 == "Stopped" && $2 > 0
     type: review