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()
parser.add_argument('--listener', '-l', dest='listener',
metavar='LOCATOR',
action='append',
type=str,
help='Locators 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("mode", json.dumps(args.mode))
if args.peer is not None:
conf.insert_json5("peers", json.dumps(args.peer))
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 {} ('{}': '{}')"
parser.add_argument('--value',
'-v',
dest='value',
default='Put from Python!',
type=str,
help='The value to write.')
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("mode", json.dumps(args.mode))
if args.peer is not None:
conf.insert_json5("peers", json.dumps(args.peer))
if args.listener is not None:
conf.insert_json5("listeners", json.dumps(args.listener))
key = args.key
value = args.value
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
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()
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()
