コード例 #1
0
    def __init__(self, client_id, topic, publish):
        """ Create a subscription for the specified client on the specified
        topic, with callback publish

        Keyword arguments:
        client_id -- the ID of the client making this subscription
        topic     -- the name of the topic to subscribe to
        publish   -- the callback function for incoming messages

        """
        self.client_id = client_id
        self.topic = topic
        self.publish = publish

        self.clients = {}

        self.handler = MessageHandler(None, self._publish)
        self.handler_lock = Lock()
        self.update_params()
コード例 #2
0
ファイル: subscribe.py プロジェクト: Alminc91/rosbridge_suite
    def __init__(self, client_id, topic, publish):
        """ Create a subscription for the specified client on the specified
        topic, with callback publish

        Keyword arguments:
        client_id -- the ID of the client making this subscription
        topic     -- the name of the topic to subscribe to
        publish   -- the callback function for incoming messages

        """
        self.client_id = client_id
        self.topic = topic
        self.publish = publish

        self.clients = {}

        self.handler = MessageHandler(None, self._publish)
        self.handler_lock = Lock()
        self.update_params()
コード例 #3
0
class Subscription():
    """ Keeps track of the clients multiple calls to subscribe.

    Chooses the most appropriate settings to send messages """
    def __init__(self, client_id, topic, publish):
        """ Create a subscription for the specified client on the specified
        topic, with callback publish

        Keyword arguments:
        client_id -- the ID of the client making this subscription
        topic     -- the name of the topic to subscribe to
        publish   -- the callback function for incoming messages

        """
        self.client_id = client_id
        self.topic = topic
        self.publish = publish

        self.clients = {}

        self.handler = MessageHandler(None, self._publish)
        self.handler_lock = Lock()
        self.update_params()

    def unregister(self):
        """ Unsubscribes this subscription and cleans up resources """
        manager.unsubscribe(self.client_id, self.topic)
        with self.handler_lock:
            self.handler.finish()
        self.clients.clear()

    def subscribe(self,
                  sid=None,
                  msg_type=None,
                  throttle_rate=0,
                  queue_length=0,
                  fragment_size=None,
                  compression="none"):
        """ Add another client's subscription request

        If there are multiple calls to subscribe, the values actually used for
        queue_length, fragment_size, compression and throttle_rate are
        chosen to encompass all subscriptions' requirements

        Keyword arguments:
        sid             -- the subscription id from the client
        msg_type        -- the type of the message to subscribe to
        throttle_rate   -- the minimum time (in ms) allowed between messages
        being sent.  If multiple subscriptions, the lower of these is used
        queue_length    -- the number of messages that can be buffered.  If
        multiple subscriptions, the lower of these is used
        fragment_size   -- None if no fragmentation, or the maximum length of
        allowed outgoing messages
        compression     -- "none" if no compression, or some other value if
        compression is to be used (current valid values are 'png')

         """

        client_details = {
            "throttle_rate": throttle_rate,
            "queue_length": queue_length,
            "fragment_size": fragment_size,
            "compression": compression
        }

        self.clients[sid] = client_details

        self.update_params()

        # Subscribe with the manager. This will propagate any exceptions
        manager.subscribe(self.client_id, self.topic, self.on_msg, msg_type)

    def unsubscribe(self, sid=None):
        """ Unsubscribe this particular client's subscription

        Keyword arguments:
        sid -- the individual subscription id.  If None, all are unsubscribed

        """
        if sid is None:
            self.clients.clear()
        elif sid in self.clients:
            del self.clients[sid]

        if not self.is_empty():
            self.update_params()

    def is_empty(self):
        """ Return true if there are no subscriptions currently """
        return len(self.clients) == 0

    def _publish(self, message):
        """ Internal method to propagate published messages to the registered
        publish callback """
        self.publish(message, self.fragment_size, self.compression)

    def on_msg(self, msg):
        """ Raw callback called by subscription manager for all incoming
        messages.

        Incoming messages are passed to the message handler which may drop,
        buffer, or propagate the message

        """
        with self.handler_lock:
            self.handler.handle_message(msg)

    def update_params(self):
        """ Determine the 'lowest common denominator' params to satisfy all
        subscribed clients. """
        if len(self.clients) == 0:
            self.throttle_rate = 0
            self.queue_length = 0
            self.fragment_size = None
            self.compression = "none"
            return

        def f(fieldname):
            return [x[fieldname] for x in self.clients.values()]

        self.throttle_rate = min(f("throttle_rate"))
        self.queue_length = min(f("queue_length"))
        frags = [x for x in f("fragment_size") if x != None]
        if frags == []:
            self.fragment_size = None
        else:
            self.fragment_size = min(frags)
        self.compression = "png" if "png" in f("compression") else "none"

        with self.handler_lock:
            self.handler = self.handler.set_throttle_rate(self.throttle_rate)
            self.handler = self.handler.set_queue_length(self.queue_length)
コード例 #4
0
ファイル: subscribe.py プロジェクト: Alminc91/rosbridge_suite
class Subscription():
    """ Keeps track of the clients multiple calls to subscribe.

    Chooses the most appropriate settings to send messages """

    def __init__(self, client_id, topic, publish):
        """ Create a subscription for the specified client on the specified
        topic, with callback publish

        Keyword arguments:
        client_id -- the ID of the client making this subscription
        topic     -- the name of the topic to subscribe to
        publish   -- the callback function for incoming messages

        """
        self.client_id = client_id
        self.topic = topic
        self.publish = publish

        self.clients = {}

        self.handler = MessageHandler(None, self._publish)
        self.handler_lock = Lock()
        self.update_params()

    def unregister(self):
        """ Unsubscribes this subscription and cleans up resources """
        manager.unsubscribe(self.client_id, self.topic)
        with self.handler_lock:
            self.handler.finish()
        self.clients.clear()

    def subscribe(self, sid=None, msg_type=None, throttle_rate=0,
                  queue_length=0, fragment_size=None, compression="none"):
        """ Add another client's subscription request

        If there are multiple calls to subscribe, the values actually used for
        queue_length, fragment_size, compression and throttle_rate are
        chosen to encompass all subscriptions' requirements

        Keyword arguments:
        sid             -- the subscription id from the client
        msg_type        -- the type of the message to subscribe to
        throttle_rate   -- the minimum time (in ms) allowed between messages
        being sent.  If multiple subscriptions, the lower of these is used
        queue_length    -- the number of messages that can be buffered.  If
        multiple subscriptions, the lower of these is used
        fragment_size   -- None if no fragmentation, or the maximum length of
        allowed outgoing messages
        compression     -- "none" if no compression, or some other value if
        compression is to be used (current valid values are 'png')

         """
        # Subscribe with the manager. This will propagate any exceptions
        manager.subscribe(self.client_id, self.topic, self.on_msg, msg_type)

        client_details = {
            "throttle_rate": throttle_rate,
            "queue_length": queue_length,
            "fragment_size": fragment_size,
            "compression": compression
        }

        self.clients[sid] = client_details

        self.update_params()

    def unsubscribe(self, sid=None):
        """ Unsubscribe this particular client's subscription

        Keyword arguments:
        sid -- the individual subscription id.  If None, all are unsubscribed

        """
        if sid is None:
            self.clients.clear()
        elif sid in self.clients:
            del self.clients[sid]

        if not self.is_empty():
            self.update_params()

    def is_empty(self):
        """ Return true if there are no subscriptions currently """
        return len(self.clients) == 0

    def _publish(self, message):
        """ Internal method to propagate published messages to the registered
        publish callback """
        self.publish(message, self.fragment_size, self.compression)

    def on_msg(self, msg):
        """ Raw callback called by subscription manager for all incoming
        messages.

        Incoming messages are passed to the message handler which may drop,
        buffer, or propagate the message

        """
        with self.handler_lock:
            self.handler.handle_message(msg)

    def update_params(self):
        """ Determine the 'lowest common denominator' params to satisfy all
        subscribed clients. """
        if len(self.clients) == 0:
            self.throttle_rate = 0
            self.queue_length = 0
            self.fragment_size = None
            self.compression = "none"
            return

        def f(fieldname):
            return [x[fieldname] for x in self.clients.values()]

        self.throttle_rate = min(f("throttle_rate"))
        self.queue_length = min(f("queue_length"))
        frags = [x for x in f("fragment_size") if x != None]
        if frags == []:
            self.fragment_size = None
        else:
            self.fragment_size = min(frags)
        self.compression = "png" if "png" in f("compression") else "none"

        with self.handler_lock:
            self.handler = self.handler.set_throttle_rate(self.throttle_rate)
            self.handler = self.handler.set_queue_length(self.queue_length)