def main(address, selector):
# client configuration
conf = {
'mode': 'client',
'peer': '{}'.format(address),
}
print("Openning session...")
zenoh = Zenoh(conf)
print("New workspace...")
workspace = zenoh.workspace()
# getting the data from zenoh, it can come from a storage or an eval
print("Get Data from '{}'...".format(selector))
output_data = []
for data in workspace.get(selector):
_, _, m, s, n = data.path.split('/')
m = int(m)
s = int(s)
n = int(n)
output_entry = {
'm': m,
's': s,
'n': n,
'value': data.value.get_content(),
'timestamp': data.timestamp
}
output_data.append(output_entry)
sorted_output_data = sorted(output_data, key=lambda k: k['n'])
for data in sorted_output_data:
print(data)
zenoh.close()
parser.add_argument('--selector', '-s', dest='selector',
default='/demo/example/**',
type=str,
help='The selection of resources to get.')
args = parser.parse_args()
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)
selector = args.selector
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
# initiate logging
zenoh.init_logger()
print("Openning session...")
zenoh = Zenoh(conf)
print("New workspace...")
workspace = zenoh.workspace()
print("Get Data from '{}'...".format(selector))
for data in workspace.get(selector):
print(' {} : {} (encoding: {} , timestamp: {})'.format(
data.path, data.value.get_content(), data.value.encoding_descr(), data.timestamp))
zenoh.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()