def init_connection(self):
# initiate logging
zenoh.init_logger()
L.warning("[ZENOH] Openning session...")
self.z_session = zenoh.net.open(self.conf)
self.z_sub_info = SubInfo(Reliability.Reliable, SubMode.Push)
async def main():
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(prog='z_info',
description='zenoh info example')
parser.add_argument('--mode',
'-m',
dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument('--connect',
'-e',
dest='connect',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to connect to.')
parser.add_argument('--listen',
'-l',
dest='listen',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to listen on.')
parser.add_argument('--config',
'-c',
dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else zenoh.Config()
if args.mode is not None:
conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
if args.connect is not None:
conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
if args.listen is not None:
conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = await zenoh.async_open(conf)
info = await session.info()
for key in info:
print("{} : {}".format(key, info[key]))
await session.close()
async def main():
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(
prog='z_put',
description='zenoh put example')
parser.add_argument('--mode', '-m', dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument('--connect', '-e', dest='connect',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to connect to.')
parser.add_argument('--listen', '-l', dest='listen',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to listen on.')
parser.add_argument('--key', '-k', dest='key',
default='/demo/example/zenoh-python-put',
type=str,
help='The key expression matching resources to delete.')
parser.add_argument('--config', '-c', dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else zenoh.Config()
if args.mode is not None:
conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
if args.connect is not None:
conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
if args.listen is not None:
conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
key = args.key
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = await zenoh.async_open(conf)
print("Deleting resources matching '{}'...".format(key))
await session.delete(key)
await session.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-p', '--payload', default=8, type=int)
parser.add_argument('-s', '--scenario', default="dataflow")
parser.add_argument('-n', '--name', default="test")
parser.add_argument('-t', '--transport', default="tcp")
parser.add_argument('-o', '--operators', action='store_true')
parser.add_argument('-g', '--graph-file')
args = parser.parse_args()
zenoh.init_logger()
# creating Zenoh.net session
#session = zenoh.net.open({})
"""Creates and runs the dataflow graph."""
(count_stream, ) = erdos.connect(SendOp,
erdos.OperatorConfig(), [],
size=args.payload)
if args.operators:
erdos.connect(ZenohSendOp,
erdos.OperatorConfig(), [count_stream],
size=args.payload)
if args.graph_file is not None:
erdos.run(args.graph_file)
else:
erdos.run()
else:
extract_stream = erdos.ExtractStream(count_stream)
# creating zenoh session
session = zenoh.net.open({})
# Declaring zenoh sender
rid = session.declare_resource(f'/thr/test/{args.payload}')
publisher = session.declare_publisher(rid)
if args.graph_file is not None:
erdos.run_async(args.graph_file)
else:
erdos.run_async()
counter = Counter(size=args.payload,
scenario=args.scenario,
name=args.name,
transport=args.transport)
while True:
msg = extract_stream.read()
counter.inc()
if args.listener is not None:
conf.insert_json5("listeners", json.dumps(args.listener))
key = args.key
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
def listener(sample):
time = '(not specified)' if sample.source_info is None or sample.timestamp is None else datetime.fromtimestamp(
sample.timestamp.time)
print(">> [Subscriber] Received {} ('{}': '{}')"
.format(sample.kind, sample.key_expr, sample.payload.decode("utf-8"), time))
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = zenoh.open(conf)
print("Creating Subscriber on '{}'...".format(key))
sub = session.subscribe(key, listener, reliability=Reliability.Reliable, mode=SubMode.Push)
print("Enter 'q' to quit...")
c = '\0'
while c != 'q':
c = sys.stdin.read(1)
if c == '':
time.sleep(1)
async def main():
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(prog='z_eval',
description='zenoh eval example')
parser.add_argument('--mode',
'-m',
dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument('--connect',
'-e',
dest='connect',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to connect to.')
parser.add_argument('--listen',
'-l',
dest='listen',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to listen on.')
parser.add_argument(
'--key',
'-k',
dest='key',
default='/demo/example/zenoh-python-eval',
type=str,
help='The key expression matching queries to evaluate.')
parser.add_argument('--value',
'-v',
dest='value',
default='Eval from Python!',
type=str,
help='The value to reply to queries.')
parser.add_argument('--config',
'-c',
dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else zenoh.Config()
if args.mode is not None:
conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
if args.connect is not None:
conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
if args.listen is not None:
conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
key = args.key
value = args.value
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# Note: As an example the concrete implementation of the eval callback is implemented here as a coroutine.
# It checks if the query's value_selector (the substring after '?') is a float, and if yes, sleeps for this number of seconds.
# Run example/asyncio/z_get_parallel.py example to see how 3 concurrent get() are executed in parallel in this z_eval.py
async def eval_corouting(query):
selector = query.selector
try:
sleep_time = selector.parse_value_selector().properties.get(
'sleep')
if sleep_time is not None:
print(" Sleeping {} secs before replying".format(
float(sleep_time)))
await asyncio.sleep(float(sleep_time))
except Exception as e:
print(" WARN: error in value selector: {}. Ignore it.".format(e))
print(" Replying to query on {}".format(selector))
reply = "{} (this is the reply to query on {})".format(value, selector)
query.reply(Sample(key_expr=key, payload=reply.encode()))
async def eval_callback(query):
print(">> [Queryable ] Received Query '{}'".format(query.selector))
# schedule a task that will call eval_corouting(query)
asyncio.create_task(eval_corouting(query))
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = await zenoh.async_open(conf)
print("Creating Queryable on '{}'...".format(key))
queryable = await session.queryable(key, eval_callback, kind=EVAL)
print("Enter 'q' to quit......")
c = '\0'
while c != 'q':
c = sys.stdin.read(1)
if c == '':
time.sleep(1)
await queryable.close()
await session.close()
async def main():
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(
prog='z_get_parallel',
description='zenoh parallel get example')
parser.add_argument('--mode', '-m', dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument('--connect', '-e', dest='connect',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to connect to.')
parser.add_argument('--listen', '-l', dest='listen',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to listen on.')
parser.add_argument('--selector', '-s', dest='selector',
default='/demo/example/**',
type=str,
help='The selection of resources to query.')
parser.add_argument('--kind', '-k', dest='kind',
choices=['ALL_KINDS', 'STORAGE', 'EVAL'],
default='ALL_KINDS',
type=str,
help='The KIND of queryables to query.')
parser.add_argument('--target', '-t', dest='target',
choices=['ALL', 'BEST_MATCHING',
'ALL_COMPLETE', 'NONE'],
default='ALL',
type=str,
help='The target queryables of the query.')
parser.add_argument('--config', '-c', dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else zenoh.Config()
if args.mode is not None:
conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
if args.connect is not None:
conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
if args.listen is not None:
conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
selector = args.selector
kind = {
'ALL_KINDS': queryable.ALL_KINDS,
'STORAGE': queryable.STORAGE,
'EVAL': queryable.EVAL}.get(args.kind)
target = {
'ALL': Target.All(),
'BEST_MATCHING': Target.BestMatching(),
'ALL_COMPLETE': Target.AllComplete(),
'NONE': Target.No()}.get(args.target)
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = await zenoh.async_open(conf)
async def do_query(sleep_time):
print("Sending Query '{}?(sleep={})'...".format(selector, sleep_time))
replies = await session.get("{}?(sleep={})".format(selector, sleep_time), target=QueryTarget(kind, target))
for reply in replies:
print(">> Received ('{}': '{}')"
.format(reply.sample.key_expr, reply.sample.payload.decode("utf-8")))
start = time.time()
await asyncio.gather(
asyncio.create_task(do_query(1)),
asyncio.create_task(do_query(2)),
asyncio.create_task(do_query(3)),
)
end = time.time()
print(f'Time: {end-start:.2f} sec')
await session.close()
def main(stdscr):
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(prog='zn_sub',
description='zenoh-net sub example')
parser.add_argument('--mode',
'-m',
dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument(
'--peer',
'-e',
dest='peer',
metavar='LOCATOR',
action='append',
type=str,
help='Peer locators used to initiate the zenoh session.')
parser.add_argument('--listener',
'-l',
dest='listener',
metavar='LOCATOR',
action='append',
type=str,
help='Locators to listen on.')
parser.add_argument('--config',
'-c',
dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
parser.add_argument('--cmd_vel',
dest='cmd_vel',
default='/rt/turtle1/cmd_vel',
type=str,
help='The "cmd_vel" ROS2 topic.')
parser.add_argument('--rosout',
dest='rosout',
default='/rt/rosout',
type=str,
help='The "rosout" ROS2 topic.')
parser.add_argument('--angular_scale',
'-a',
dest='angular_scale',
default='2.0',
type=float,
help='The angular scale.')
parser.add_argument('--linear_scale',
'-x',
dest='linear_scale',
default='2.0',
type=float,
help='The linear scale.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else {}
if args.mode is not None:
conf["mode"] = args.mode
if args.peer is not None:
conf["peer"] = ",".join(args.peer)
if args.listener is not None:
conf["listener"] = ",".join(args.listener)
cmd_vel = args.cmd_vel
rosout = args.rosout
angular_scale = args.angular_scale
linear_scale = args.linear_scale
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
z = Zenoh(conf)
workspace = z.workspace()
def rosout_callback(change):
if change.value is not None:
log = Log.deserialize(change.value.get_content())
print('[{}.{}] [{}]: {}'.format(log.stamp.sec, log.stamp.nanosec,
log.name, log.msg))
print("Subscriber on '{}'...".format(rosout))
sub = workspace.subscribe(rosout, rosout_callback)
def pub_twist(linear, angular):
print("Pub twist: {} - {}".format(linear, angular))
t = Twist(linear=Vector3(x=linear, y=0.0, z=0.0),
angular=Vector3(x=0.0, y=0.0, z=angular))
workspace.put(cmd_vel, t.serialize())
while True:
c = stdscr.getch()
if c == curses.KEY_UP:
pub_twist(1.0 * linear_scale, 0.0)
elif c == curses.KEY_DOWN:
pub_twist(-1.0 * linear_scale, 0.0)
elif c == curses.KEY_LEFT:
pub_twist(0.0, 1.0 * angular_scale)
elif c == curses.KEY_RIGHT:
pub_twist(0.0, -1.0 * angular_scale)
elif c == 27 or c == ord('q'):
break
sub.close()
zenoh.close()
async def main():
# --- Command line argument parsing --- --- --- --- --- ---
parser = argparse.ArgumentParser(prog='z_sub',
description='zenoh sub example')
parser.add_argument('--mode',
'-m',
dest='mode',
choices=['peer', 'client'],
type=str,
help='The zenoh session mode.')
parser.add_argument('--connect',
'-e',
dest='connect',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to connect to.')
parser.add_argument('--listen',
'-l',
dest='listen',
metavar='ENDPOINT',
action='append',
type=str,
help='Endpoints to listen on.')
parser.add_argument('--key',
'-k',
dest='key',
default='/demo/example/**',
type=str,
help='The key expression to subscribe to.')
parser.add_argument('--config',
'-c',
dest='config',
metavar='FILE',
type=str,
help='A configuration file.')
args = parser.parse_args()
conf = zenoh.config_from_file(
args.config) if args.config is not None else zenoh.Config()
if args.mode is not None:
conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
if args.connect is not None:
conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
if args.listen is not None:
conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
key = args.key
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
async def listener(sample):
print(">> [Subscriber] Received {} ('{}': '{}')".format(
sample.kind, sample.key_expr, sample.payload.decode("utf-8")))
# initiate logging
zenoh.init_logger()
print("Openning session...")
session = await zenoh.async_open(conf)
print("Creating Subscriber on '{}'...".format(key))
sub = await session.subscribe(key,
listener,
reliability=Reliability.Reliable,
mode=SubMode.Push)
print("Enter 'q' to quit...")
c = '\0'
while c != 'q':
c = sys.stdin.read(1)
if c == '':
time.sleep(1)
await sub.close()
await session.close()
