def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_minimal_snd")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create publisher
pub = StringPublisher("Hello")
msg = "HELLO WORLD FROM PYTHON"
# send messages
i = 0
while ecal_core.ok():
i = i + 1
current_message = "{} {:6d}".format(msg, i)
print("Sending: {}".format(current_message))
pub.send(current_message)
time.sleep(0.01)
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_person_rec")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create publisher
sub = ProtoSubscriber("person", person_pb2.Person)
# receive messages
while ecal_core.ok():
ret, person, time = sub.receive(500)
# deserialize person from message buffer
if ret > 0:
# print person content
print("")
print("Received person ..")
print("person id : {}".format(person.id))
print("person name : {}".format(person.name))
print("person stype : {}".format(person.stype))
print("person email : {}".format(person.email))
print("dog.name : {}".format(person.dog.name))
print("house.rooms : {}".format(person.house.rooms))
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_minimal_rec_cb")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create subscriber and connect callback
sub = StringSubscriber("Hello")
sub.set_callback(callback)
# idle main thread
while ecal_core.ok():
time.sleep(0.1)
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_person_rec_json")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create publisher
sub = ecal_core.subscriberDynJSON("person")
sub.set_callback(callback)
# receive messages
while ecal_core.ok():
time.sleep(0.1)
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_minimal_rec")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create subscriber
sub = StringSubscriber("Hello")
# receive messages
while ecal_core.ok():
ret, msg, time = sub.receive(500)
if ret > 0:
print("Received: {} ms {}".format(time, msg))
else:
print("Subscriber timeout ..")
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_person_snd")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create publisher
pub = ProtoPublisher("person", person_pb2.Person)
# create person instance and set content
person = person_pb2.Person()
person.name = "Max"
person.stype = person_pb2.Person.MALE
person.email = "*****@*****.**"
person.dog.name = "Brandy"
person.house.rooms = 4
# send messages
while ecal_core.ok():
# change person id
person.id = person.id + 1
# send person
print("Sending person {}".format(person.id))
pub.send(person)
# sleep 100 ms
time.sleep(0.1)
# finalize eCAL API
ecal_core.finalize()
def main():
# print eCAL version and date
print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
# initialize eCAL API
ecal_core.initialize(sys.argv, "py_minimal_service")
# set process state
ecal_core.set_process_state(1, 1, "I feel good")
# create server "Ping"
server = ecal_service.Server("DemoServer")
# define the server method "foo" function
def foo_req_callback(method_name, req_type, resp_type, request):
print("'DemoService' method '{}' called with {}".format(method_name, request))
return 0, bytes("thank you for calling foo :-)", "ascii")
# define the server method "ping" function
def ping_req_callback(method_name, req_type, resp_type, request):
print("'DemoService' method '{}' called with {}".format(method_name, request))
return 0, bytes("pong", "ascii")
# define the server methods and connect them to the callbacks
server.add_method_callback("foo", "string", "string", foo_req_callback)
server.add_method_callback("ping", "ping_type", "pong_type", ping_req_callback)
# create a client for the "DemoServer" service
client = ecal_service.Client("DemoServer")
# define the client response callback to catch server responses
def client_resp_callback(service_info, response):
if (service_info["call_state"] == "call_state_executed"):
print("'DemoService' method '{}' responded : '{}'".format(service_info["method_name"], response))
print()
else:
print("server {} response failed, error : '{}'".format(service_info["host_name"], service_info["error_msg"]))
print()
# and add it to the client
client.add_response_callback(client_resp_callback)
# match all
time.sleep(2.0)
# call foo method
i = 0
while ecal_core.ok() and i < 20:
i = i + 1
request = bytes("hello foo {}".format(i), "ascii")
print("'DemoService' method 'foo' requested with : {}".format(request))
client.call_method("foo", request)
time.sleep(1.0)
# call ping method
i = 0
while ecal_core.ok() and i < 20:
i = i + 1
request = bytes("ping number {}".format(i), "ascii")
print("'DemoService' method 'ping' requested with : {}".format(request))
client.call_method("ping", request)
time.sleep(1.0)
# destroy client and server
client.destroy()
server.destroy()
# finalize eCAL API
ecal_core.finalize()