class DAMRWEB:
def __init__(self, namespace, SAS_name, SAS_value):
self.topic_vel = 'cmd_vel'
self.topic_stop = 'motor_stop'
self.namespace = namespace
self.SAS_name = SAS_name
self.SAS_value = SAS_value
self.topic_options = Topic()
self.topic_options.max_size_in_megabytes = '10' #### Try : '1024'
self.topic_options.default_message_time_to_live = 'PT5S'
self.bus_service = ServiceBusService(
service_namespace=self.namespace,
shared_access_key_name=self.SAS_name,
shared_access_key_value=self.SAS_value)
self.cmd_values = {
'N': "100 100",
'S': '-100 -100',
'W': '-50 50',
'E': '50 -50'
}
self.bot_list = []
#create topics of cmd_vel and motor stop
def createLocalbot(self, bot_id):
self.bus_service.create_topic((self.topic_vel + bot_id),
self.topic_options)
self.bus_service.create_topic((self.topic_stop + bot_id),
self.topic_options)
# self.bus_service.create_subscription((self.topic_vel+bot_id), bot_id)
# self.bus_service.create_subscription((self.topic_stop+bot_id), bot_id)
self.bot_list.append(bot_id)
pass
def remoteControl(self, bot_id, cmd_dirn):
msg = Message(self.cmd_values[cmd_dirn].encode('utf-8'))
self.bus_service.send_topic_message((self.topic_vel + bot_id), msg)
def remoteControlStop(self, bot_id):
msg = Message('0 0'.encode('utf-8'))
self.bus_service.send_topic_message((self.topic_vel + bot_id), msg)
def deleteTopic(self, bot_id):
self.bus_service.delete_topic((self.topic_vel + bot_id))
self.bus_service.delete_topic((self.topic_stop + bot_id))
def cleanup(self):
for bot in self.bot_list:
self.deleteTopic(bot)
class AbcServiceBus:
def __init__(self):
self._namespace = '_namespace'
self._topic_name = '_topic_name'
self._service_bus = AzureServiceBus()
def send_insert_notification(self, record_id):
message_json = {'ids': [record_id]}
self._service_bus.send_topic_message(
namespace_name=self._namespace,
topic_name=self._topic_name,
message_json=message_json
)
return True
def sendWindBeringData(msg):
try:
bus_service = ServiceBusService(
service_namespace='kanmessagebus',
shared_access_key_name='client',
shared_access_key_value='dNj7Z+fOvV49WNETUL0Guj3KVVdZude/fqzmj95GHKo=')
mesage = Message(msg)
bus_service.send_topic_message("wind_bearing", mesage)
except Exception as e:
if hasattr(e, 'message'):
print(e.message)
else:
print(e)
def sendWeatherData(msg):
try:
bus_service = ServiceBusService(
service_namespace='kanmessagebus',
shared_access_key_name='weather',
shared_access_key_value='tweaVJ8+++wUl3f568/E9vgAH21FK2SpcPBXn5F8Kts=')
mesage = Message(msg)
bus_service.send_topic_message("weather_station", mesage)
except Exception as e:
if hasattr(e, 'message'):
print(e.message)
else:
print(e)
