Python ZCM Exemples

Exemple #1

Fichier : basic_test.py Projet : ZeroCM/zcm

#!/usr/bin/python

from zcm import ZCM
import sys
sys.path.insert(0, '../build/types/')
from example_t import example_t
import time

success = "Failure"
def handler(channel, msg):
    global success
    assert msg.timestamp == 10
    success = "Success"

# make a new zcm object and launch the handle thread
zcm = ZCM()
if not zcm.good():
    print "Unable to initialize zcm"
    exit()

# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10

# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", example_t, handler)

# publish a message
zcm.publish("TEST", msg)

# wait a second

Exemple #2

sys.path.insert(0, '../build/types/')
from example_t import example_t
import time

success = "Failure"


def handler(channel, msg):
    global success
    assert msg.timestamp == 10
    success = "Success"


# make a new zcm object and launch the handle thread
zcm = ZCM("ipc")
if not zcm.good():
    print "Unable to initialize zcm"
    exit()

# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10

# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", example_t, handler)

# publish a message
zcm.publish("TEST", msg)

# wait a second

Exemple #3

Fichier : package_test.py Projet : luckynote/zcm

#!/usr/bin/python

from zcm import ZCM
import sys
sys.path.insert(0, '../build/types/')
from test_package import packaged_t
import time

success = "Failure"
def handler(channel, msg):
    global success
    assert(msg.a.e.timestamp == 10)
    success = "Success"

# make a new zcm object and launch the handle thread
zcm = ZCM()
if not zcm.good():
    print "Unable to initialize zcm"
    exit()

# declare a new msg and populate it
msg = packaged_t()
msg.a.e.timestamp = 10

# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", packaged_t, handler)

# publish a message
zcm.publish("TEST", msg)

# wait a second

Exemple #4

signal.signal(signal.SIGINT, signal_handler)

lock = threading.Lock()
done = 0


def handler(channel, msg):
    global done
    print "Received message on channel: " + channel
    assert msg.timestamp == 10
    lock.acquire()
    done = done + 1
    lock.release()


zcm = ZCM()
if not zcm.good():
    print "Unable to initialize zcm"
    exit()
zcm.start()
msg = example_t()
msg.timestamp = 10
subs = zcm.subscribe("TEST", example_t, handler)
while True:
    zcm.publish("TEST", msg)
    lock.acquire()
    _done = done
    lock.release()
    if _done == 10:
        break
    time.sleep(0.25)

Exemple #5

Fichier : no_unsub_test.py Projet : wenjun001/zcm

sys.path.insert(0, '../build/types/')
from example_t import example_t
import time

success = "Failure"


def handler(channel, msg):
    global success
    assert msg.timestamp == 10
    success = "Success"


# make a new zcm object and launch the handle thread
zcm = ZCM("")
if not zcm.good():
    print("Unable to initialize zcm")
    exit()

# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10

# set up a subscription on channel "TEST"
zcm.subscribe("TEST", example_t, handler)

# publish a message
zcm.publish("TEST", msg)

# wait a second

Exemple #6

Fichier : encoded_fields.py Projet : luckynote/zcm

sys.path.insert(0, '../build/types/')
from example_t import example_t
from encoded_t import encoded_t
import time

success = "Failure"


def handler(channel, msg):
    global success
    assert msg.timestamp == 10
    success = "Success"


# make a new zcm object and launch the handle thread
zcm = ZCM("")
if not zcm.good():
    print "Unable to initialize zcm"
    exit()

# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10

encoded = encoded_t()
encoded.msg = msg.encode()
encoded.n = len(encoded.msg)

decoded = example_t.decode(encoded.msg)
assert (decoded.timestamp == msg.timestamp)

Exemple #7

Fichier : multipub_thread.py Projet : luckynote/zcm

    assert msg.timestamp == 10
    lock.acquire()
    done = done + 1
    lock.release()


def publish():
    print "Publish message on channel: " + "TEST"
    zcm.publish("TEST", msg)
    print "Publish message on channel: " + "TEST_1"
    zcm.publish("TEST_1", msg)
    print "Publish message on channel: " + "TEST_2"
    zcm.publish("TEST_2", msg)


zcm = ZCM("")
if not zcm.good():
    print "Unable to initialize zcm"
    exit()
zcm.start()
msg = example_t()
msg.timestamp = 10
subs = zcm.subscribe("TEST.*", example_t, handler)
publish()
time.sleep(1)
while True:
    publish()
    lock.acquire()
    _done = done
    lock.release()
    if _done == 9:

Exemple #8

# Untested

from zcm import ZCM
from pto import pto_t
from otp import otp_t


def handler(channel, msg):
    print "Received message on channel: " + channel
    assert msg.timestamp == 10


zcm = ZCM("udpm://10.0.0.4:7777?ttl=64")

if not zcm.good():
    print "Unable to initialize zcm"
    exit()

# declare a new msg and populate it
msg = pto_t()
msg.timestamp = 10

# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", otp_t(), handler)

# publish a message
zcm.publish("TEST", msg)

Exemple #9

Fichier : threaded_test.py Projet : ZeroCM/zcm

import signal
def signal_handler(signal, frame):
    sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)

lock = threading.Lock()
done = 0
def handler(channel, msg):
    global done
    print "Received message on channel: " + channel
    assert msg.timestamp == 10
    lock.acquire()
    done = done + 1
    lock.release()

zcm = ZCM()
if not zcm.good():
    print "Unable to initialize zcm"
    exit()
zcm.start()
msg = example_t()
msg.timestamp = 10
subs = zcm.subscribe("TEST", example_t, handler)
while True:
    zcm.publish("TEST", msg)
    lock.acquire()
    _done = done
    lock.release()
    if _done == 10:
        break
    time.sleep(0.25)